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COMP790-058 Robotics: 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 Prerequisities

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comp790 058 robotics an introduction
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

D. Manocha

prerequisities
Prerequisities
  • Knowledge of calculus, differential equations, linear algebra and programming is assumed
  • Knowledge of algorithms and analysis is a big plus

D. Manocha

history of robotics
History of Robotics

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

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textbook references
Textbook & References
  • In-class handouts
  • Other research papers
  • More references (books, papers, pointers to other interesting resources) available at the course website

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course overview
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.

D. Manocha

possible applications
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
Space Exploration

MARS Space Vehicles

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virtual environments
Virtual Environments

Sarco’s Threadport II

Iwata’s

Gaitmaster

Sarco’s Biport

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haptic rendering interfaces
Haptic Rendering & Interfaces

Haptic Painting

Interactive Manipulation

of nanoStructures

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design automation rapid prorotyping
Design Automation & Rapid Prorotyping

General Electric

General Motors

General Motors

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assembly planning
Assembly Planning

Generation of Instruction Manuals

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medical training robot assisted surgery
Medical Training & Robot Assisted Surgery

Third Ventriculostomy

(HT/Immersion Medical)

da Vinci Surgical System

(Intuitive Surgery, Inc.)

Human Simulation (BDI)

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sensor networks distributed robotic systems
Sensor Networks & Distributed Robotic Systems

Multiple Autonomous

Robots (UPENN)

Solar-powered Underwater Robot

for undersea observation

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computer animation
Computer Animation

Character Animation:

ACM SIGGRAPH 1995 (Top) & Pixar Actors (Right Top & Bottom)

M. C. Lin

computer games
Computer Games

Game Playing & AI

Crowd Simulation

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bioinformatics computational chemistry
Bioinformatics & Computational Chemistry
  • Drug Design - molecule docking
  • Studying folding pathways & kinetics

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bio inspired robots
Bio-Inspired Robots

RiSE - Robotics in

Scansorial Enviroments

UPENN RHex

Mecho-gecko

Climbing Vehicle

SPRAWL –

Dynamic legged robot

Boadicea – Hexaped

with artificial muscles

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scouting rescue
Scouting & Rescue

Snake Robots Fire Fighting

Underwater Snake Robot

Robot Demining

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entertainment education
Entertainment & Education

ASIMO Humanoid Robot

Sony AIBO Dog

Dream Robot (Sony)

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human robot interaction
Human-Robot Interaction

A robot that moves and interacts with people

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household daily use
Household & Daily Use

Vaccum, Mopping,

& Lawn Mowing

Automobile Route Planning

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darpa grand challenge
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
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
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
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

D. Manocha