COMP790-058 Robotics: An IntroductionPrerequisitiesHistory of RoboticsTextbook & ReferencesCourse OverviewPossible ApplicationsSpace ExplorationVirtual EnvironmentsHaptic Rendering & InterfacesDesign Automation & Rapid ProrotypingAssembly PlanningMedical Training & Robot Assisted SurgeryModel Acquisition by Mobile RobotSensor Networks & Distributed Robotic SystemsComputer AnimationComputer GamesBioinformatics & Computational ChemistryBio-Inspired RobotsScouting & RescueEntertainment & EducationHuman-Robot InteractionHousehold & Daily UseDARPA Grand ChallengeWhat Will We Be DoingAlso have fun with Roomba’sRobotics is Getting Hot!UNC Chapel HillD. ManochaCOMP790-058Robotics: An IntroductionMon/Wed 11:00am – 12:15pm (SN 115)http://gamma.cs.unc.edu/rob-course/public_html/Dinesh ManochaFB250, [email protected]://www.cs.unc.edu/~dmUNC Chapel HillD. ManochaPrerequisitiesKnowledge of calculus, differential equations, linear algebra and programming is assumedKnowledge of algorithms and analysis is a big plusUNC Chapel HillD. ManochaHistory of Roboticshttp://robotics.megagiant.com/history.htmlUNC Chapel HillD. ManochaTextbook & ReferencesIn-class handoutsOther research papers More references (books, papers, pointers to other interesting resources) available at the course websiteUNC Chapel HillD. ManochaCourse 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 HillD. ManochaPossible 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 SystemsUNC Chapel HillD. ManochaSpace ExplorationMARS Space VehiclesUNC Chapel HillD. ManochaVirtual EnvironmentsSarco’s Threadport IISarco’s BiportIwata’s GaitmasterUNC Chapel HillD. ManochaHaptic Rendering & InterfacesInteractive Manipulation of nanoStructuresHaptic PaintingUNC Chapel HillD. ManochaDesign Automation & Rapid ProrotypingGeneral ElectricGeneral ElectricGeneral General MotorsMotorsGeneral MotorsGeneral MotorsUNC Chapel HillD. ManochaAssembly PlanningGeneration of Instruction ManualsUNC Chapel HillD. ManochaMedical Training & Robot Assisted SurgeryThird Ventriculostomy (HT/Immersion Medical) Human Simulation (BDI)da Vinci Surgical System (Intuitive Surgery, Inc.)UNC Chapel HillD. ManochaModel Acquisition by Mobile RobotUNC Chapel HillD. ManochaSensor Networks & Distributed Robotic SystemsMultiple AutonomousRobots (UPENN)Solar-powered Underwater Robotfor undersea observationUNC Chapel HillM. C. LinComputer AnimationCharacter Animation:ACM SIGGRAPH 1995 (Top) & Pixar Actors (Right Top & Bottom)UNC Chapel HillD. ManochaComputer GamesGame Playing & AI Crowd SimulationUNC Chapel HillD. ManochaBioinformatics & Computational ChemistryDrug Design - molecule dockingStudying folding pathways & kineticsUNC Chapel HillD. ManochaBio-Inspired RobotsRiSE - Robotics in Scansorial EnviromentsUPENN RHex Mecho-geckoClimbing VehicleSPRAWL – Dynamic legged robotBoadicea – Hexaped with artificial musclesUNC Chapel HillD. ManochaScouting & RescueSnake Robots Fire FightingUnderwater Snake RobotRobot DeminingUNC Chapel HillD. ManochaEntertainment & EducationDream Robot (Sony)Sony AIBO DogASIMO Humanoid RobotUNC Chapel HillD. ManochaHuman-Robot InteractionA robot that moves and interacts with peopleUNC Chapel HillD. ManochaHousehold & Daily UseAutomobile Route PlanningVaccum, Mopping,& Lawn MowingUNC Chapel HillD. Manocha DARPA Grand ChallengeAutonomous navigation for a collision-free 132-mile path with obstacle course in a desertUNC Chapel HillD. ManochaWhat 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-ApplicationsUNC Chapel HillD. ManochaAlso have fun with Roomba’s Programming assignments -Simple motion planning on a single Roomba-Multiple-robot motion planningUNC Chapel HillD. ManochaRobotics is Getting Hot!Success of RoombaDARPA Grand Challengehttp://www.darpa.mil/GRANDCHALLENGE/http://www.youtube.com/watch?v=AFh-p5eW_0oHumanoid Robots and Social Needshttp://www.youtube.com/watch?v=Ce9AswIM4lsLatest Trend: Internet to