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

History of Robotics

http://robotics.megagiant.com/history.html

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

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Space Exploration

MARS Space Vehicles

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Virtual Environments

Sarco’s Threadport II

Sarco’s BiportIwata’s

Gaitmaster

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Haptic Rendering & Interfaces

Interactive Manipulation of nanoStructures

Haptic Painting

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Design Automation & Rapid Prorotyping

General ElectricGeneral ElectricGeneral General MotorsMotors

General MotorsGeneral Motors

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Assembly Planning

Generation of Instruction Manuals

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Medical Training & Robot Assisted Surgery

Third Ventriculostomy (HT/Immersion Medical)

Human Simulation (BDI)

da Vinci Surgical System (Intuitive Surgery, Inc.)

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Model Acquisition by Mobile Robot

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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

Computer Games

Game Playing & AI Crowd Simulation

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Bioinformatics & Computational Chemistry

Drug Design - molecule docking

Studying folding pathways & kinetics

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Bio-Inspired Robots

RiSE - Robotics in Scansorial EnviromentsUPENN RHex

Mecho-geckoClimbing Vehicle

SPRAWL – Dynamic legged robot Boadicea – Hexaped

with artificial muscles

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Scouting & Rescue

Snake Robots Fire Fighting Underwater Snake Robot

Robot Demining

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Entertainment & Education

Dream Robot (Sony)

Sony AIBO Dog

ASIMO Humanoid Robot

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Human-Robot Interaction

A robot that moves and interacts with people

UNC Chapel Hill D. Manocha

Household & Daily Use

Automobile Route PlanningVaccum, Mopping,& Lawn Mowing

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DARPA Grand Challenge

Autonomous navigation for a collision-free 132-mile path with obstacle course in a desert

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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

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Also have fun with Roomba’s

Programming assignments Simple motion planning on a single Roomba

Multiple-robot motion planning

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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