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UNC Chapel Hill D. Manocha
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
UNC Chapel Hill D. Manocha
Prerequisities
Knowledge of calculus, differential equations, linear algebra and programming is assumed
Knowledge of algorithms and analysis is a big plus
UNC Chapel Hill D. Manocha
Textbook & References
In-class handoutsOther research papers
More references (books, papers, pointers to other interesting resources) available at the course website
UNC Chapel Hill D. Manocha
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
UNC Chapel Hill D. Manocha
Virtual Environments
Sarco’s Threadport II
Sarco’s BiportIwata’s
Gaitmaster
UNC Chapel Hill D. Manocha
Haptic Rendering & Interfaces
Interactive Manipulation of nanoStructures
Haptic Painting
UNC Chapel Hill D. Manocha
Design Automation & Rapid Prorotyping
General ElectricGeneral ElectricGeneral General MotorsMotors
General MotorsGeneral Motors
UNC Chapel Hill D. Manocha
Medical Training & Robot Assisted Surgery
Third Ventriculostomy (HT/Immersion Medical)
Human Simulation (BDI)
da Vinci Surgical System (Intuitive Surgery, Inc.)
UNC Chapel Hill D. Manocha
Sensor Networks & Distributed Robotic Systems
Multiple AutonomousRobots (UPENN)
Solar-powered Underwater Robotfor undersea observation
UNC Chapel Hill M. C. Lin
Computer Animation
Character Animation:ACM SIGGRAPH 1995 (Top) & Pixar Actors (Right Top & Bottom)
UNC Chapel Hill D. Manocha
Bioinformatics & Computational Chemistry
Drug Design - molecule docking
Studying folding pathways & kinetics
UNC Chapel Hill D. Manocha
Bio-Inspired Robots
RiSE - Robotics in Scansorial EnviromentsUPENN RHex
Mecho-geckoClimbing Vehicle
SPRAWL – Dynamic legged robot Boadicea – Hexaped
with artificial muscles
UNC Chapel Hill D. Manocha
Scouting & Rescue
Snake Robots Fire Fighting Underwater Snake Robot
Robot Demining
UNC Chapel Hill D. Manocha
Entertainment & Education
Dream Robot (Sony)
Sony AIBO Dog
ASIMO Humanoid Robot
UNC Chapel Hill D. Manocha
Household & Daily Use
Automobile Route PlanningVaccum, Mopping,& Lawn Mowing
UNC Chapel Hill 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 SLAM
Sensing (Computer Vision) & Actuation
Control & Optimizations
Knowledge Representation & Semantics
Biologically-Inspired Robots
Applications
UNC Chapel Hill 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