COMP790-072 Robotics: An Introduction Tues/Thur 11:00am – 12:15pm (SN 115) http://www.cs.unc.edu/~lin/COMP790 Ming C. Lin SN223, 962-1974 [email protected] http://www.cs.unc.edu/~lin Office Hours: TR 12:15-1:15pm or by Appointment UNC Chapel Hill M.
Download ReportTranscript COMP790-072 Robotics: An Introduction Tues/Thur 11:00am – 12:15pm (SN 115) http://www.cs.unc.edu/~lin/COMP790 Ming C. Lin SN223, 962-1974 [email protected] http://www.cs.unc.edu/~lin Office Hours: TR 12:15-1:15pm or by Appointment UNC Chapel Hill M.
COMP790-072 Robotics: An Introduction Tues/Thur 11:00am – 12:15pm (SN 115) http://www.cs.unc.edu/~lin/COMP790 Ming C. Lin SN223, 962-1974 [email protected] http://www.cs.unc.edu/~lin Office Hours: TR 12:15-1:15pm or by Appointment UNC Chapel Hill M. C. Lin Prerequisities Knowledge of calculus, differential equations, linear algebra and programming is assumed Knowledge of algorithms and analysis is a big plus UNC Chapel Hill M. C. Lin Textbook & References In-class handouts Other research papers More references (books, papers, pointers to other interesting resources) available at the course website UNC Chapel Hill M. C. Lin 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 M. C. Lin 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 UNC Chapel Hill M. C. Lin Space Exploration MARS Space Vehicles UNC Chapel Hill M. C. Lin Virtual Environments Sarco’s Threadport II Sarco’s Biport UNC Chapel Hill Iwata’s Gaitmaster M. C. Lin Haptic Rendering & Interfaces Haptic Painting Interactive Manipulation of nanoStructures UNC Chapel Hill M. C. Lin Design Automation & Rapid Prorotyping General Electric UNC Chapel Hill General Motors General Motors M. C. Lin Assembly Planning Generation of Instruction Manuals UNC Chapel Hill M. C. Lin Assisted Technology Control & Obstacle Avoidance for Powered WheelChairs UNC Chapel Hill M. C. Lin Medical Training & Robot Assisted Surgery Third Ventriculostomy (HT/Immersion Medical) da Vinci Surgical System (Intuitive Surgery, Inc.) Human Simulation (BDI) UNC Chapel Hill M. C. Lin Model Acquisition by Mobile Robot UNC Chapel Hill M. C. Lin Sensor Networks & Distributed Robotic Systems Solar-powered Underwater Robot for undersea observation UNC Chapel Hill Multiple Autonomous Robots (UPENN) M. C. Lin 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 M. C. Lin Bioinformatics & Computational Chemistry Drug Design molecule docking Studying folding pathways & kinetics UNC Chapel Hill M. C. Lin Bio-Inspired Robots RiSE - Robotics in Scansorial Enviroments UPENN RHex Mecho-gecko Climbing Vehicle SPRAWL – Dynamic legged robot UNC Chapel Hill Boadicea – Hexaped with artificial muscles M. C. Lin Scouting & Rescue Snake Robots Fire Fighting Underwater Snake Robot Robot Demining UNC Chapel Hill M. C. Lin Entertainment & Education ASIMO Humanoid Robot Sony AIBO Dog Dream Robot (Sony) UNC Chapel Hill M. C. Lin Human-Robot Interaction A robot that moves and interacts with people UNC Chapel Hill M. C. Lin Household & Daily Use Vaccum, Mopping, & Lawn Mowing UNC Chapel Hill Automobile Route Planning M. C. Lin DARPA Grand Challenge Autonomous navigation for a collision-free 132-mile path with obstacle course in a desert UNC Chapel Hill M. C. Lin What Will We Be Doing Geometry Collision Detection Motion Planning Mechanics Forward and Inverse Kinematics Rigid Body Dynamics Articulated Body Dynamics Other introductory materials Sensing (Computer Vision) & Actuation Control & Optimizations Knowledge Representation & Semantics Biologically-Inspired Robots Applications UNC Chapel Hill M. C. Lin See Course Website http://www.cs.unc.edu/~lin/COMP790 for more details…… UNC Chapel Hill M. C. Lin