Lecture 01
- 1. Introduction to RoboticsCSCI 4830/7000-006August 23, 2010NikolausCorrell
- 2. SyllabusTheoryLocomotionKinematicsPerceptionLocalizationPlanning and NavigationPracticeSimulation exercisesDebatesParticipation in online competitionYoutube
- 3. Links and PlacesClass wikihttp://correll.cs.colorado.edu/pmwikiCodeHow-Tos and exercisesCU Learnhttp://culearn.colorado.eduSubmission of assignmentsExercisesCSEL 128http://sac.colorado.eduContactECOT 733 (my office)Phone: (303) 492-2233nikolaus.correll@colorado.eduTry this out asap!Try this out asap!
- 4. TextbookIntroduction to Autonomous Mobile Robots, Roland Siegwart and Illah R. Nourbakhsh, MIT PressAvailable from CU Bookstore next weekWeekly reading assignmentsLecture is complementing the book
- 5. Activities and GradingFinal examenDeliverablesWeekly reading assignmentsMidtermDebateClass participationMust attend to lectures and seminars40%20%20%10%10%
- 6. 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
- 7. What will not be covered?Because we will be working in simulation, we will not coverComponents you build are less likely to work than those that you buyComponents you bought are much harder to debug than those you builtSoftware-engineering Take: Advanced robotics
- 8. Not be coveredC / C++ / JavaComputer Vision -> CSCI 5722
- 9. Why robots?Robots will work more efficient and safer than humansFrom repetitive tasks to true autonomyImprove lifestyle and educationPotentially as disruptive as the wheel, printing press, steam engine, internet
- 16. Early robotsGeorge Devol, *1912~1940~1950Are these robots or automatons?Which are more robots than others and why?“Unimate”, shipped to GM in 1961
- 17. What is a robot?SensingperceptionComputationmaking sense of your sensesActuation and Mechanismmoving and manipulationCommunicationcommunicating with people, objects and other robots
- 18. Who is doing robotics?SocialSciencesBiologyChemistryAerospaceEngineeringPhysics
- 19. Athlete Robot, NASA/JPL. Videos © California Institute of Technology, Simulation MarsetteVona
- 20. AthleteSensingJoint positionsComputationOff-lineActuation/Mechanism6x6 DOF legs, wheelsCommunicationRemote controlhttp://www.mit.edu/~vona
- 21. “Big Dog”, Boston Dynamics, AP Photo/ApichartWeerawongYoutube 4min
- 22. Big DogSensingLegs: Joint positions and force, ground contactBody: Gyroscope, StereovisionComputation/ControlHigh-frequency closed-loop controlActuation/Mechanism4 x 4 DOF hydraulic legsCommunicationRemote Control
- 23. Rollin’ Justin, 2009, DeutschesLuft und RaumfahrtzentrumRonny Hartmann/AFP/Getty Images Youtube 3min
- 24. JustinSensingArms/torso/fingers: position, force/torqueHead: vision, hearingComputationCompliant control of fingers and armObject recognition and language processingMotion planning for collision-free pathsActuation2 x 6 DOF Kuka arm, torso, legs, 2 x 4 x 3 DOF handCommunicationAural and speech
- 25. Kiva Systems, Picture: Josh Reynolds for The Boston Globe Youtube (4min)
- 26. KivaSensingBar codes on the floor (localization), odometryComputationCentralized, grid-based algorithmActuationMoving on the grid, lift cupboardsCommunicationMany-to-one (centralized), user to server
- 27. This courseTheoryHow do sensors and actuators workHow can we describe and control a robot’s motionAlgorithms for localization and navigationPracticeProgramming Robots in WebotsDesigning a robot soccer playerDebating about robot technology in class
- 28. WebotsRealistic, physics-based simulationSimulates robot dynamics, sensor noiseWrite controllers in Java or CGoal: write a competitive robot for ratslife
- 29. RatsLife CompetitionUpload your controller to www.ratslife.orgController is evaluated nightly against other players worldwideDownload a video of the competition the next dayUpload your controller into a real robot setup
- 30. RatslifeYou will design a controller in teams of 2SkillsPerceptionNavigationPlanningYou will implement this controller and evaluate it against your peers
- 31. SummaryA robot becomes autonomous due to a combination ofActuationSensingComputationCommunicationRobotics is an interdisciplinary effortComputer science research makes robots intelligent
- 32. Next Meetings / AssignmentsWednesday, 4.45pm, ECCS 128First steps in WebotsReadingWebots User Manual (wiki)Questions on Chapter 2, pages 13 – 32 (culearn), due Monday, September 13, 5pm.
- 33. AcknowledgmentsThe acquisition of Webots was sponsored by
Editor's Notes
- #4: 2 min
- #6: 3 min: goal of the presentation: teach your peers
- #7: 3: algorithms, mechanisms, sensors, signal processing, focus on multi-robot systems
- #19: 2 min: Intelligence is a function of ALL things coming together: sensors, algorithms, mechanisms and communication
- #20: 2 min – The Athlete robot is no doubt a robot. Focus, however, is on the mechanical design. The robot has 6 legs that can have the robot move, act as pinchers and pick up stuff, or manipulate the environments with add-on tools. There is little sensing, little computation, and little autonomy on this robot. In fact, nobody even bothered thinking about how to coordinate all the different joints (6 x6 ) to actually perform all the actions that the robot theoretically could do.
- #21: 4 min. Explain Sensing actuation computation and communication. Again: focus is on a revolutionary mechanical design. My labmate at MIT MarsetteVona – a computer scientist like you – built the interface for controlling the robot. He also developed computational tools that allow to calculate all the joint positions of a robot as a function of a virtual articulation. For pinching, e.g., you can think about calculating all your joint positions as a function of contact points with a virtual object. Show video.
- #22: 6 min – Big Dog, what it can do, why it was build. Interesting mechanical design (four legs with 4 DOF each). Focus here is on control: how to create a gait to move the robot forwards, and – more difficult – how to react so that the robot remains stable
- #23: 2 min : explain where the meat is in the big dog
- #24: 5 min : justin is putting it all together, massive sensing, state-of-the art control, mechanism, computation and communication
- #25: 2 min
- #26: 4 min