COMP790-058 Robotics: An Introduction Mon/Wed 11:00am – 12:15pm (SN 115) http://gamma.cs.unc.edu/rob-course/public_html/ Dinesh Manocha FB250, 962-1749 [email protected]

http://www.cs.unc.edu/~dm D. Manocha UNC Chapel Hill

Prerequisities



Knowledge of calculus, differential equations, linear algebra and programming is assumed



Knowledge of algorithms and analysis is a big plus D. Manocha UNC Chapel Hill

History of Robotics http://robotics.megagiant.com/history.

html UNC Chapel Hill D. Manocha

Textbook & References



In-class handouts



Other research papers



More references (books, papers, pointers to other interesting resources) available at the course website D. Manocha UNC Chapel Hill

Course Overview



Robotics:

the study of robot design, programming, and control.



A robot:

an agent that can be programmed to perform a variety of tasks, both with & without human intervention; it’s often manifested and realized by mechanical and electrical components to carry out its actions in the physical world.

UNC Chapel Hill D. Manocha

Possible Applications

• • • • • • •

Computer Animation Virtual Environments Design Automation & Rapid Prototyping Haptic Rendering & Interfaces Medical Training & Robot Assisted Procedures Bio-informatics & Computational Chemistry Sensor Networks & Distributed Robotic Systems D. Manocha UNC Chapel Hill

Space Exploration UNC Chapel Hill

MARS Space Vehicles

D. Manocha

Virtual Environments

Sarco’s Biport Sarco’s Threadport II Iwata’s Gaitmaster

D. Manocha UNC Chapel Hill

Haptic Rendering & Interfaces Haptic Painting Interactive Manipulation of nanoStructures UNC Chapel Hill D. Manocha

Design Automation & Rapid Prorotyping

General Electric

UNC Chapel Hill

General Motors General Motors

D. Manocha

Assembly Planning Generation of Instruction Manuals UNC Chapel Hill D. Manocha

Medical Training & Robot Assisted Surgery Third Ventriculostomy (HT/Immersion Medical) da Vinci Surgical System (Intuitive Surgery, Inc.) Human Simulation (BDI) UNC Chapel Hill D. Manocha

Model Acquisition by Mobile Robot UNC Chapel Hill D. Manocha

Sensor Networks & Distributed Robotic Systems Solar-powered Underwater Robot for undersea observation Multiple Autonomous Robots (UPENN) UNC Chapel Hill D. Manocha

Computer Animation Character Animation: ACM SIGGRAPH 1995 (Top) & Pixar Actors (Right Top & Bottom) UNC Chapel Hill M. C. Lin

Computer Games

Game Playing & AI

UNC Chapel Hill

Crowd Simulation

D. Manocha

Bioinformatics & Computational Chemistry



Drug Design

molecule docking  Studying folding pathways & kinetics

UNC Chapel Hill D. Manocha

Bio-Inspired Robots

UPENN RHex RiSE - Robotics in Scansorial Enviroments SPRAWL – Dynamic legged robot

UNC Chapel Hill Mecho-gecko

Climbing Vehicle Boadicea – Hexaped with artificial muscles

D. Manocha

Scouting & Rescue

Snake Robots Fire Fighting Underwater Snake Robot

UNC Chapel Hill

Robot Demining

D. Manocha

Entertainment & Education ASIMO Humanoid Robot Sony AIBO Dog UNC Chapel Hill Dream Robot (Sony) D. Manocha

Human-Robot Interaction A robot that moves and interacts with people UNC Chapel Hill D. Manocha

Household & Daily Use Vaccum, Mopping, & Lawn Mowing UNC Chapel Hill Automobile Route Planning D. Manocha

DARPA Grand Challenge Autonomous navigation for a collision-free 132-mile path with obstacle course in a desert UNC Chapel Hill D. Manocha

What Will We Be Doing



Geometry

  Collision Detection Motion Planning: Single robot and multiple robots 

Mechanics

   Forward and Inverse Kinematics Rigid Body Dynamics Articulated Body Dynamics 

Other introductory materials



UNC Chapel Hill

     SLAM Sensing (Computer Vision) & Actuation Control & Optimizations Knowledge Representation & Semantics Biologically-Inspired Robots Applications

D. Manocha

Also have fun with Roomba’s



Programming assignments

  Simple motion planning on a single Roomba Multiple-robot motion planning

UNC Chapel Hill D. Manocha

Robotics is Getting Hot!



Success of Roomba



DARPA Grand Challenge http://www.darpa.mil/GRANDCHALLENGE/ http://www.youtube.com/watch?v=AFh-p5eW_0o



Humanoid Robots and Social Needs http://www.youtube.com/watch?v=Ce9AswIM4ls



Latest Trend: Internet to Robotics

http://www.cra.org/ccc/home.article.ttech.html

UNC Chapel Hill D. Manocha