1. Introduction to Robotics CSCI 4830/7000 January 11, 2010 NikolausCorrell

2. Syllabus Theory Locomotion Kinematics Perception Localization Planning and Navigation Practice Simulation exercises Design reviews Debates Participation in online competition

3. Links and Places Class wiki http://correll.cs.colorado.edu/pmwiki Code How-Tos and exercises CU Learn http://culearn.colorado.edu Submission of assignments Exercises CSEL 128 http://sac.colorado.edu Contact ECOT 733 (my office) Phone: (303) 492-2233 nikolaus.correll@colorado.edu Try this out asap! Try this out asap!

4. Textbook Introduction to Autonomous Mobile Robots, Roland Siegwart and Illah R. Nourbakhsh, MIT Press Available from CU Bookstore next week Weekly reading assignments Lecture is complementing the book

5. Activities and Grading Oral exam* Deliverables Weekly reading assignments Design reviews Debate Must attend to lectures and seminars * Graduate students will also be required to write a term paper 50% 20% 20% 10%

6. What will you learn? What are robots, what is the science and technology behind building robots and programming them? Why is robotics hard? Hands-on experience programming of driving, walking and crawling robots

7. What will not be covered? Because we will be working in simulation, we will not cover Components you build are less likely to work than those that you buy Components you bought are much harder to debug than those you built Robots is the science of connectors and cabling Introduction to Robotics II

8. Why robots? Robots will work more efficient and safer than humans From repetitive tasks to true autonomy Improve lifestyle and education Potentially as disruptive as the wheel, printing press, steam engine, internet

9. Early robots George Devol, *1912 ~1940 ~1950 Are these robots or automatons? Which are more robots than others and why? “Unimate”, shipped to GM in 1961

10. What is a robot? Sensing perception Computation making sense of your senses Actuation and Mechanism moving and manipulation Communication communicating with people, objects and other robots

11. Who is doing robotics? Social Sciences Biology Chemistry Aerospace Engineering Physics

12. Athlete Robot, NASA/JPL. Videos © California Institute of Technology, Simulation MarsetteVona

13. Athlete Sensing Joint positions Computation Off-line Actuation/Mechanism 6x6 DOF legs, wheels Communication Remote control http://www.mit.edu/~vona

14. “Big Dog”, Boston Dynamics, AP Photo/ApichartWeerawong Youtube 4min

15. Big Dog Sensing Legs: Joint positions and force, ground contact Body: Gyroscope, Stereovision Computation/Control High-frequency closed-loop control Actuation/Mechanism 4 x 4 DOF hydraulic legs Communication Remote Control

16. Rollin’ Justin, 2009, DeutschesLuft und Raumfahrtzentrum Ronny Hartmann/AFP/Getty Images Youtube 3min

17. Justin Sensing Arms/torso/fingers: position, force/torque Head: vision, hearing Computation Compliant control of fingers and arm Object recognition and language processing Motion planning for collision-free paths Actuation 2 x 6 DOF Kuka arm, torso, legs, 2 x 4 x 3 DOF hand Communication Aural and speech

18. Kiva Systems, Picture: Josh Reynolds for The Boston Globe Youtube (4min)

19. Kiva Sensing Bar codes on the floor (localization), odometry Computation Centralized, grid-based algorithm Actuation Moving on the grid, lift cupboards Communication Many-to-one (centralized), user to server

20. This course Theory How do sensors and actuators work How can we describe and control a robot’s motion Algorithms for localization and navigation Practice Programming Robots in Webots Designing a robot soccer player Debating about robot technology in class

21. Webots Realistic, physics-based simulation Simulates robot dynamics, sensor noise Write controllers in Java or C Goal: write a competitive soccer player

22. Robotstadium Upload your controller to www.robotstadium.org Controller is evaluated nightly against other players worldwide Download a video of the competition the next day

23. Robotstadium You will design a controller in teams and present it to the class (design review) You will implement this controller and evaluate it against your peers We will create a CU team that will be frozen the last day of classes $1000 cash prize -> Dinner

24. Competition

25. Summary A robot becomes autonomous due to a combination of Actuation Sensing Computation Communication Robotics is an interdisciplinary effort Computer science research makes robots intelligent

26. Next Meetings / Assignments Wednesday/Friday, January 13/15, 5pm, ECCS 128 First steps in Webots Monday, January 18, NO CLASS Reading Webots User Manual (wiki) Questions on Chapter 2, pages 13 – 32 (culearn), due Sunday, January 24.

27. Acknowledgments The acquisition of Webots was sponsored by