Department of Computer Science
College of Arts and Sciences
The University of North Carolina at Chapel Hill
- Time and Place: MW 11:00am-12:15pm, SN 011
- Office Hours: M 2:00-3:15pm or by appointment, FB 250
- Prerequisites: Knowledge of calculus, differential
equations, linear algebra, and programming is assumed and
- Textbook: Course Notes and In-Class Handouts
- Lab TA: Jamie Snape
Robotics is the study of robot design, programming, and control.
Typically a robot is refered to as an agent that can be programmed to
perform a variety of tasks -- both with and without human intervention.
A robot is often manifested and realized by mechanical and electrical
components to carry out its actions in the physical world.
Robots frequently receive input from noisy sensors, consider geometric and
mechanical constraints, and operate in the physical world through imprecise
actuators. The design and analysis of robot algorithms and computational
elements, therefore, raises a unique combination of questions in computational
and differential geometry, algorithm design, control theory, mechanics,
computer science, and system engineering.
In this course, we will give an
overview on fundamental components of robotic systems, including the
sensing and actuation, control and modeling of motion and perception,
dynamics and kinematics, motion planning and manipulation of robots.
Students will learn about implementation of basic simulation programs
that produce interesting results and verify its correctness.
The goal of this class is to get students an appreciation of
computational methods and engineering issues for modeling robots.
We will discuss various considerations and tradeoffs used in designing
various methodologies (e.g. time, space, robustness, and generality).
This will include data structures, algorithms, computational methods,
simulation techniques, runtime complexity, system implementation
and integration, in the context of multi-disciplinary design. The lectures will also cover some applications of robotics to the following areas:
- Computer Animation
- Virtual Environments
- Haptic Rendering & Interfaces
- Medical Training & Robot Assisted Operations
- Design Automation and Rapid Manufacturing
- Bio-informatics and Computational Chemistry
- Sensor Networks & Distributed Robotic Systems
Furthermore, scientists have discovered that designs in the natural world can
be successfully exploited to create engineered artifacts. Over the last several
years, robotists have come up with several new robot designs that are based
on biological entities. These new designs offer significant benefits over
the traditional robot designs. Thus, a central part of the course will
also cover the fundamentals and applications of biologically inspired
robots. If time allows, we will also examine recent development on
modular and reconfigurable robots, as well as simultaneous localization
and mapping (SLAM).
In order to experiment with some of these concepts, we are going to use
iRobot's Create kit (based on the Roomba). We plan to give out assignments
dealing with planning the path of a single Roomba or multiple Roombas. For
more information, see HERE.
LECTURES AND APPROXIMATE SCHEDULE
Here is a list of TENTATIVE lecture topics (subject to
changes). Schedule and information on each topic (e.g. readings, web
pointers) will be added during the semester before each class.
- Overview, iRobot Create
(Wed, Aug. 20, 2008)
- Introduction to Sensing, Actuation & Kinematics
(Mon, Aug. 25, 2008)
- Introduction to Roomba and Create
(Jamie Snape, Wed, Aug. 27, 2008)
- Introduction to Computer Vision for Robotics
(Jan-Michael Frahm, Wed, Sep. 03, 2008)
- Inverse Kinematics
(Mon/Wed, Sep. 08 & 10, 2008)
Background on kinematics ;
Denavit-Hartenberg Convention ;
Algebraic and Geometric Solutions ;
Chris Hecker notes on numerical
solvers for inverse kinematics;
- Rigid and Articulated Body Dynamics I, II
(Tim Johnson & Yu-Hsien Su, Mon/Wed, Sep. 15 & 17, 2008)
- Single Robot Motion Planning I, II
(Liangjun Zhang, Mon/Wed, Sep. 22 & 24, 2008)
- Multi-Robot Motion Planning I, II
(Jur van den Berg, Mon/Wed, Sep. 29 & Oct. 06, 2008)
- Real Robots - Sensors to Simulations (Edison Hudson, iRobot Corporation, Wed, Oct. 01, 2008, 12:30pm)
- Introduction to Simultaneous Localization and Mapping (David Wilkie, Wed, Oct. 08, 2008)
- Final Project Proposal Presentations (Mon, Oct. 13, 2008)
- Motion Planning with Uncertainty (Lakulish Antani, Wed, Oct. 15, 2008)
- Probabilistic Reasoning and Bayersian Programming I, II, III (Yue-Ling Wong, Mon/Wed, Oct. 20 & 22, 2008)
- Machine Learning and Robotics (Lisa Lyons, Mon, Oct. 27, 2008)
- Collision and Proximity Computations
using Hierarchies (Mon, Nov. 03, 2008)
- Crowd Simulation I, II (Glenn Elliott & Sachin Patil, Mon/Wed, Nov. 10 & 13, 2008)
- Biologically-Inspired Algorithms in Robotics (Sang Woo Lee, Mon, Nov. 17, 2008)
- Active Research Projects in the Center for Robotics and Intelligent Machines (Eddie Grant, North Carolina State University, Wed, Nov. 19, 2008)
- Medical Robotics (Susu Li, Mon, Dec. 01, 2008)
- Localization (Micah Taylor, Wed, Dec. 03, 2008)
- Assignment 3 Demos (Fri, Dec. 05, 2008, 10:30am)
- Final Project Presentations (Mon, Dec. 15, 2008, 9:00am)
ASSIGNMENTS AND PROJECTS
The class grade of each student is determined by
- Assignments: Problems and programming assignments (35%)
- Class presentation (15%)
- Final project (50%)
- Assignment 2 (Wed, Oct. 22, 2008)
- Assignment 1 (Wed, Sep. 10, 2008)
- Assignment 3 (Fri, Dec. 05, 2008)
For useful documentation, code examples, software tools, and web links, see here.
STUDENT COURSE PROJECTS
GEOMETRIC ALGORITHMS AND SOFTWARES AVAILABLE ON THE WEB:
Here are just some possible locations to find geometric software/libraries
and algorithmic toolkits you may need:
ADDITIONAL REFERENCE MATERIALS
Here is a list of suggested
Some Reference Books in Robotics:
- Planning Algorithms,
by Steven LaValle. Cambridge University Press, 2006.
Robotics, by S. Thrun, W. Burgard, and D. Fox.
MIT Press, 2005.
- Principles of Robot Motion: Theory, Algorithms, and
Implementation, by H. Choset, K. Lynch, S. Hutchinson,
G. Kantor, W. Burgard, L. Kavraki, and S. Thrun. MIT Press, 2005.
- Introduction to Robotics: Mechanics and Control,
by J.J. Craig. Prentice Hall, 3rd edition, 2003,
- Robot Motion Planning, by Jean-Claude Latombe.
Kluwer Academic Publishers, 1991.
- Robot Manipulators: Mathematics, Programming, and Control,
by Richard Paul. MIT Press, 1981.
- Amphibionics: Build Your Own Biologically Inspired Reptilian Robot,
by Karl Williams. McGraw-Hill/TAB Electronics, 2003.
- Robot Building for Beginners, by David Cook.
- Biomimetic Sensor Technology, by Kiyoshi Toko.
Cambridge University Press, 2000.
Other Reference Books in Mechanics:
- Concepts and Applications of Finite Element Analysis,
by R. D. Cook, D. S. Malkus and M. E. Plesha, John Wiley & Sons, 1989.
- Finite Element Procedures, by K.-J. Bathe, Prentice Hall, 1996.
- First Course in Continuum Mechanics, by Y.C. Fung,
Prentice Hall, 1993.
Other Reference Books in Numerical Methods:
Other Reference Books in Geometry:
Computational Geometry (Algorithms and Applications), by de Berg,
van Kreveld, Overmars and Schwarzkofp, Springer-Verlag, 1997.
- Computational Geometry In C (Second Edition), by
O'Rourke, Cambridge University Press, 1998.
- Handbook on Discrete and Computational Geometry, by Goodman and
O'Rourke (eds), CRC Press LLC, 1997.
- Applied Computational Geometry: Toward Geometric Engineering,
by Lin and Manocha (eds), Springer-Verlag, 1996.
- Algorithms in Combinatorial Geometry, by Edelsbrunner,
- Computational Geometry (An Introduction), by Preparata and Shamos,
Other Related Reference Books in Computer Animation:
For more information, contact
- Making Them Move: Mechanics, Control and Animation of Articulated
Figures, by Badler, Barsky and Zelter, Morgan Kaufmann Publishers, 1991.
Copyright 2006, 2008.
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