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Welcome to Robotics!

Welcome to Robotics!. Spring 2007 Sarah Lawrence College Professor Jim Marshall. Robots Have Many Uses. Pumping gas. Assembly. Welding. Dancing. Eating cars. Packaging. What Is Robotics About?. Robot: A physical system that autonomously senses the environment and acts in it

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Welcome to Robotics!

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  1. Welcome to Robotics! Spring 2007 Sarah Lawrence College Professor Jim Marshall

  2. Robots Have Many Uses Pumping gas Assembly Welding Dancing Eating cars Packaging

  3. What Is Robotics About? Robot: A physical system that autonomously senses the environment and acts in it Engineering and industrial applications AI and cognitive science research Both hardware and software

  4. Some Early Robots The Stanford Cart (1977) Shakey (SRI, 1969)

  5. Cartland

  6. Cartland

  7. Behavior-Based Robotics Genghis (Rodney Brooks, MIT) Hannibal

  8. The Cog Project (Rodney Brooks, MIT)

  9. The Cog Project

  10. Kismet (Rodney Brooks, Cynthia Breazeal, MIT)

  11. Roomba Vacuuming Robot (Rodney Brooks, iRobot Corp.)

  12. Handyboard/LEGO Robots

  13. Other Popular Platforms Khepera II Pioneer 3 Koala

  14. Hemisson AIBO ASIMO Ants Coco Wheelsley

  15. AIBOs Playing Soccer

  16. Outline of the Course Web page (up by Monday)http://science.slc.edu/~jmarshall/courses/2007/spring/robotics Software tools we’ll use this semester Linux Emacs Python Pyro Interactive C

  17. Outline of the Course Introduction Overview of AI and robotics research Getting comfortable with Linux, Emacs,and Python Robot morphology, sensors, and actuators Part I: Direct Control Midterm project demos Part II: Learning and Development Final project presentations

  18. Part I: Direct Control Reactive control Braitenberg vehicles Handyboards, LEGOs, and Interactive C State-based control Finite-state machines Subsumption architecture Vision Midterm project demos

  19. Part II: Learning and Adaptation Neural network learning Pattern association and backpropagation Simple recurrent networks Self-organizing maps Evolutionary robotics Genetic algorithms Evolving neural networks with GAs Developmental robotics research Readings and discussion Final project presentations

  20. Project I: Possible Ideas Enable a robot to recognize where it is while wandering around trying to get to class (or back to its home base in the lab) Clear objects out of the environment Collect objects in the environment and return them to a target location Do something with vision and/or gripper using the Khepera Build new sensors for the Handyboard

  21. Project I: Possible Ideas Explore sensor-limited and computation-limited robotics by using Lego RCX bricks AIBO follow the ball kick a ball into a goal cooperate in accomplishing some task play mastermind or some other visual game Treasure hunt: visually follow a trail of colored paper or other cues

  22. Project I: Possible Ideas Investigate Player/Stage/Gazebo robot simulators Investigate Monte Carlo localization and other navigation algorithms AAAI or Beyond Botball competitions Investigate other robotic platforms (Hemisson, XBC, e-Puck, ER1, etc., depending on hardware availability) Other possibilities -- be creative!

  23. Assignment 1 Log into your Linux account (once we get them set up!) Try out Emacs and go through the tutorial Start reading Python tutorials on the web and play around with Python Start reading Vehicles Check course web page later for details See you Monday!

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