1 / 26

COMP790-058 Robotics: An Introduction

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 dm@cs.unc.edu http://www.cs.unc.edu/~dm Prerequisities

omer
Télécharger la présentation

COMP790-058 Robotics: An Introduction

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. COMP790-058Robotics: An Introduction Mon/Wed 11:00am – 12:15pm (SN 115) http://gamma.cs.unc.edu/rob-course/public_html/ Dinesh Manocha FB250, 962-1749 dm@cs.unc.edu http://www.cs.unc.edu/~dm D. Manocha

  2. Prerequisities • Knowledge of calculus, differential equations, linear algebra and programming is assumed • Knowledge of algorithms and analysis is a big plus D. Manocha

  3. History of Robotics http://robotics.megagiant.com/history.html D. Manocha

  4. Textbook & References • In-class handouts • Other research papers • More references (books, papers, pointers to other interesting resources) available at the course website D. Manocha

  5. 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. D. Manocha

  6. 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

  7. Space Exploration MARS Space Vehicles D. Manocha

  8. Virtual Environments Sarco’s Threadport II Iwata’s Gaitmaster Sarco’s Biport D. Manocha

  9. Haptic Rendering & Interfaces Haptic Painting Interactive Manipulation of nanoStructures D. Manocha

  10. Design Automation & Rapid Prorotyping General Electric General Motors General Motors D. Manocha

  11. Assembly Planning Generation of Instruction Manuals D. Manocha

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

  13. Model Acquisition by Mobile Robot D. Manocha

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

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

  16. Computer Games Game Playing & AI Crowd Simulation D. Manocha

  17. Bioinformatics & Computational Chemistry • Drug Design - molecule docking • Studying folding pathways & kinetics D. Manocha

  18. Bio-Inspired Robots RiSE - Robotics in Scansorial Enviroments UPENN RHex Mecho-gecko Climbing Vehicle SPRAWL – Dynamic legged robot Boadicea – Hexaped with artificial muscles D. Manocha

  19. Scouting & Rescue Snake Robots Fire Fighting Underwater Snake Robot Robot Demining D. Manocha

  20. Entertainment & Education ASIMO Humanoid Robot Sony AIBO Dog Dream Robot (Sony) D. Manocha

  21. Human-Robot Interaction A robot that moves and interacts with people D. Manocha

  22. Household & Daily Use Vaccum, Mopping, & Lawn Mowing Automobile Route Planning D. Manocha

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

  24. 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 • SLAM • Sensing (Computer Vision) & Actuation • Control & Optimizations • Knowledge Representation & Semantics • Biologically-Inspired Robots • Applications D. Manocha

  25. Also have fun with Roomba’s • Programming assignments • Simple motion planning on a single Roomba • Multiple-robot motion planning D. Manocha

  26. 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 D. Manocha

More Related