lecture 01: introduction
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TRANSCRIPT
Introduction to Robotics
CSCI 4830/7000January 11, 2010
Nikolaus Correll
Syllabus
• Theory– Locomotion– Kinematics– Perception– Localization– Planning and Navigation
• Practice– Simulation exercises– Design reviews– Debates– Participation in online
competition
Links and Places
• Class wiki– http://correll.cs.colorado.edu/pmwiki– Code– How-Tos and exercises
• CU Learn– http://culearn.colorado.edu– Submission of assignments
• Exercises– CSEL 128– http://sac.colorado.edu
• Contact– ECOT 733 (my office)– Phone: (303) 492-2233– [email protected]
Try this out asap!
Try this out asap!
Textbook
• Introduction to Autonomous Mobile Robots, Roland Siegwart and Illah R. Nourbakhsh, MIT Press
• Available from CU Bookstore next week
• Weekly reading assignments• Lecture is complementing the
book
Activities and Grading
• Oral exam*• Deliverables– Weekly reading assignments– Design reviews– Debate
• Must attend to lectures and seminars
* Graduate students will also be required to write a term paper
50%
20%
20%
10%
What will you learn?
• What are robots, what is the science and technology behind building robots and programming them?
• Why is robotics hard?• Hands-on experience programming of driving,
walking and crawling robots
What will not be covered?
• Because we will be working in simulation, we will not cover– – Components you build are
less likely to work than those that you buy
– Components you bought are much harder to debug than those you built
– Robots is the science of connectors and cabling
• Introduction to Robotics II
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probotworks = ppartworksallparts
∏ pconnectorsworkallconnectors
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Why robots?
• Robots will work more efficient and safer than humans
• From repetitive tasks to true autonomy
• Improve lifestyle and education
• Potentially as disruptive as the wheel, printing press, steam engine, internet
Early robots
George Devol, *1912
“Unimate”, shipped to GM in 1961
~1940 ~1950
1. Are these robots or automatons?
2. Which are more robots than others and why?
What is a robot?
• Sensing– perception
• Computation– making sense of your senses
• Actuation and Mechanism– moving and manipulation
• Communication– communicating with people,
objects and other robots
Who is doing robotics?
SocialSciences
BiologyChemistry
AerospaceEngineering Physics
Athlete Robot, NASA/JPL. Videos © California Institute of Technology, Simulation Marsette Vona
Athlete
• Sensing– Joint positions
• Computation– Off-line
• Actuation/Mechanism– 6x6 DOF legs, wheels
• Communication– Remote control
http://www.mit.edu/~vona
“Big Dog”, Boston Dynamics, AP Photo/Apichart Weerawong Youtube 4min
Big Dog
• Sensing– Legs: Joint positions and force, ground contact– Body: Gyroscope, Stereovision
• Computation/Control– High-frequency closed-loop control
• Actuation/Mechanism– 4 x 4 DOF hydraulic legs
• Communication– Remote Control
Rollin’ Justin, 2009, Deutsches Luft und RaumfahrtzentrumRonny Hartmann/AFP/Getty Images
Youtube 3min
Justin
• Sensing– Arms/torso/fingers: position, force/torque– Head: vision, hearing
• Computation– Compliant control of fingers and arm– Object recognition and language processing– Motion planning for collision-free paths
• Actuation– 2 x 6 DOF Kuka arm, torso, legs, 2 x 4 x 3 DOF hand
• Communication– Aural and speech
Kiva Systems, Picture: Josh Reynolds for The Boston Globe Youtube(4min)
Kiva
• Sensing– Bar codes on the floor (localization), odometry
• Computation– Centralized, grid-based algorithm
• Actuation– Moving on the grid, lift cupboards
• Communication– Many-to-one (centralized), user to server
This course
• Theory– How do sensors and actuators work– How can we describe and control a robot’s motion– Algorithms for localization and navigation
• Practice– Programming Robots in Webots– Designing a robot soccer player– Debating about robot technology in class
Webots
• Realistic, physics-based simulation
• Simulates robot dynamics, sensor noise
• Write controllers in Java or C
• Goal: write a competitive soccer player
Robotstadium
• Upload your controller to www.robotstadium.org
• Controller is evaluated nightly against other players worldwide
• Download a video of the competition the next day
Robotstadium
• You will design a controller in teams and present it to the class (design review)
• You will implement this controller and evaluate it against your peers
• We will create a CU team that will be frozen the last day of classes
• $1000 cash prize -> Dinner
Competition
Summary
• A robot becomes autonomous due to a combination of– Actuation– Sensing– Computation– Communication
• Robotics is an interdisciplinary effort• Computer science research makes robots
intelligent
Next Meetings / Assignments
• Wednesday/Friday, January 13/15, 5pm, ECCS 128– First steps in Webots
• Monday, January 18, NO CLASS• Reading– Webots User Manual (wiki)– Questions on Chapter 2, pages 13 – 32 (culearn),
due Sunday, January 24.
Acknowledgments
• The acquisition of Webots was sponsored by