ECE 5463 (Spring 2018)
Introduction to Robotics
Course Introduction
Wei ZhangAssociate Professor
Electrical and Computer Engineering
Ohio State University
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Course Information:
Title: Introduction to Real Time Robotics
Location: Smith Lab 1009
Time: 12:40pm ---1:35pm (M/W/F)
Instructor: Wei Zhang, [email protected]
Office Hours: 404 Dreese Labs, 1:40 – 2:40 M/F (tentative)
Webpage: www.carmen.osu
http://www2.ece.ohio-state.edu/~zhang/RoboticsClass/index.html
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Reference Books:
Textbook (Required) : "Modern Robotics: Mechanics, Planning, and Control", Kevin M. Lynch and Frank C. Park, Cambridge University Press, 2017, ISBN 9781107156302.
"A Mathematical Introduction to Robotic Manipulation", Richard M. Murray, Zexiang Li, and S. Shankara Sastry, 1994
"Robot Modeling and Control", Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, 2005
Grading Policy:
Homework 20%
Programming Assignment 10% (group with 2 – 3 people)
Final Project 10%
Midterm 25% (in class)
Final Exam 35% (Tuesday, May 1st, 12:00pm-1:45pm)
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What is Robot?
“Goal oriented machine that can sense, plan and act”
A robot senses its environment and uses that information, together with a goal, to plan some action.
The action might be to move the tool of an arm-robot to grasp an object or it might be to drive a mobile robot to some place
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Robot Manipulators (Industrial Robots)
Originally designed for industrial automation
Four largest traditional robot manufacturers
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ABB KUKA FUNUC Yaskawa
Many new players …
Dobot Makerarm uArm
https://www.youtube.com/watch?v=rhN2U5JbTY0
Walking Robots
1976 – OSU Hexapod – McGhee
1984 – OSU ASV (Adaptive Suspension Vehicle) – Waldron & McGhee
https://www.youtube.com/watch?time_continue=71&v=DIiD1JimBXQ
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Boston Dynamics
https://www.youtube.com/watch?v=fRj34o4hN4I
Robot Cassie
https://www.youtube.com/watch?v=CVcfNBYBYqA
Other Robots
Quadrotors: https://www.youtube.com/watch?v=YQIMGV5vtd4
Cheetah https://www.youtube.com/watch?v=_luhn7TLfWU
Flyboard: https://www.youtube.com/watch?v=deyMNPbaRpA
Kiva: https://www.youtube.com/watch?v=urWtlOVhg_4
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Autonomous
Underwater Vehicle iRobot Roomba Honda ASIMO Autonomous Vehicle
Robotics
Kinematics: How to describe possible motions of objects without considering mass and forces
Dynamics: How to compute motion of objects given forces on the objects
Planning & Control: how to move objects in a desired manner under uncertainties
Actuators: DC motors, Servo, Hydraulic, Pneumatic, motor drive
Sensing and Perception: force, position, vision
Actual building expertise: mechanical design, electronics, mechatronics
Artificial Intelligence: high-level decision and learning
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This Class:
Kinematics: How to describe possible motions of objects without considering mass and forces
Dynamics: How to compute motion of objects given forces on the objects
Planning & Control: how to move objects in a desired manner under uncertainties
Actuators: DC motors, Servo, Hydraulic, Pneumatic, motor drive
Sensing and Perception: force, position, vision
Actual building expertise: mechanical design, electronics, mechatronics
Artificial Intelligence: high-level decision and learning
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Caveat:
This course is not about how to actually build a robot
To gain hands experience,
you should take classes like embedded systems, mechatronics, mechanical design, …
A lot of online/offline resources
https://www.robotshop.com/
Robot Builder's Bonanza, 4th Edition
My first time teaching a robotics class and our textbook is brand new.
This course is about the mathematical and algorithmic foundation for advanced robot design and research
A lot of math + some physics
Homework and project involves programming using python and Robotic Operating System (ROS)
Mostly useful for graduate students who plan to do research on robotics
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Tentative Outline:
Introduction and Background
Configuration space
Rotational Motions
General Rigid Body Motions
Velocities of Rigid Body Motions
Forward Kinematics
Velocity Kinematics and Statics
Dynamics of open chains
Trajectory generation
Mobile robots
Advance topics
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