comp790 058 robotics an introduction l.
Skip this Video
Loading SlideShow in 5 Seconds..
COMP790-058 Robotics: An Introduction PowerPoint Presentation
Download Presentation
COMP790-058 Robotics: An Introduction

Loading in 2 Seconds...

  share
play fullscreen
1 / 26
Download Presentation

COMP790-058 Robotics: An Introduction - PowerPoint PPT Presentation

omer
370 Views
Download Presentation

COMP790-058 Robotics: An Introduction

- - - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript

  1. 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

  2. Prerequisities • Knowledge of calculus, differential equations, linear algebra and programming is assumed • Knowledge of algorithms and analysis is a big plus D. Manocha

  3. History of Robotics http://robotics.megagiant.com/history.html D. Manocha

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

  5. 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

  6. 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 D. Manocha

  7. Space Exploration MARS Space Vehicles D. Manocha

  8. Virtual Environments Sarco’s Threadport II Iwata’s Gaitmaster Sarco’s Biport D. Manocha

  9. Haptic Rendering & Interfaces Haptic Painting Interactive Manipulation of nanoStructures D. Manocha

  10. Design Automation & Rapid Prorotyping General Electric General Motors General Motors D. Manocha

  11. Assembly Planning Generation of Instruction Manuals D. Manocha

  12. Medical Training & Robot Assisted Surgery Third Ventriculostomy (HT/Immersion Medical) da Vinci Surgical System (Intuitive Surgery, Inc.) Human Simulation (BDI) D. Manocha

  13. Model Acquisition by Mobile Robot D. Manocha

  14. Sensor Networks & Distributed Robotic Systems Multiple Autonomous Robots (UPENN) Solar-powered Underwater Robot for undersea observation D. Manocha

  15. Computer Animation Character Animation: ACM SIGGRAPH 1995 (Top) & Pixar Actors (Right Top & Bottom) M. C. Lin

  16. Computer Games Game Playing & AI Crowd Simulation D. Manocha

  17. Bioinformatics & Computational Chemistry • Drug Design - molecule docking • Studying folding pathways & kinetics D. Manocha

  18. Bio-Inspired Robots RiSE - Robotics in Scansorial Enviroments UPENN RHex Mecho-gecko Climbing Vehicle SPRAWL – Dynamic legged robot Boadicea – Hexaped with artificial muscles D. Manocha

  19. Scouting & Rescue Snake Robots Fire Fighting Underwater Snake Robot Robot Demining D. Manocha

  20. Entertainment & Education ASIMO Humanoid Robot Sony AIBO Dog Dream Robot (Sony) D. Manocha

  21. Human-Robot Interaction A robot that moves and interacts with people D. Manocha

  22. Household & Daily Use Vaccum, Mopping, & Lawn Mowing Automobile Route Planning D. Manocha

  23. DARPA Grand Challenge Autonomous navigation for a collision-free 132-mile path with obstacle course in a desert D. Manocha

  24. 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 D. Manocha

  25. Also have fun with Roomba’s • Programming assignments • Simple motion planning on a single Roomba • Multiple-robot motion planning D. Manocha

  26. 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