Bio-Robotics Lab (Fall 2007)
- 2007-11-14: Assignment 4 is up and due Friday November 30, no later than 5pm. A sample map is here media:CS485-Assignment4.zip
- 2007-11-09: There is an EXTENSION on Assignment #3. It is now due on Monday Nov. 12th, no later than 5:00pm.
- 2007-11-07: Assignment 3 is due at the end of this week 11/09
- 2007-10-23: Some sample code for XPM format is here. For more in-depth, you can read about it from CS430/536 Graphics Assignment 1.
- 2007-10-15: Assignment 2 is up it is due anytime the week of October 22nd.
- 2007-10-15: Thanks to Brian Lutz for writing up some instructions for setting up Bluetooth with Linux
- 2007-10-01: There is a small bug in roombacomm.jar where goBackward(dist) did not go backward. It is fixed in the jar file included in this Roombacomm.zip file.
Prerequisites: Permission of instructor.
Class Time: M-W-F 14:00->14:50
Class Location: UCross Rm 149
Office Hours: UCROSS147 Wed and Fri 12-2pm and by appointment
Course Instructor: William C. Regli, Ph.D.
Teaching Assistants: Peter Thai <firstname.lastname@example.org> and Duc Nguyen <email@example.com>
Instructor Contact: Email regli (at) drexel (DOT) edu (not that this will help keep the spammers away)
Phone 215.895.6827; Office: UC 143
Course Objectives and Outcomes
The goal of this class is to learn how to create software to interact with devices embodied in the physical world. Students successfully completing this class will:
- understand the basic concepts of robotics (from a computer-science point of view), including kinematics, dynamics, actuators, controllers, etc;
- perform software development to control mobile robots (specifically iRobot Roombas);
- design experiments for robotic platforms;
- measure the effectiveness of a robotic system on a given problem;
- gain experience with biologically-inspired robotics techniques (swarming, biologically inspired design, etc)
- employ cyber-infrastructure (wikis, web, etc) and engineering informatics tools (CAD, simulation, MATLAB, Maple, Pro/E, SolidWorks, ACIS, etc) to better understand the relationship between virtual models and the real world
|Date||Assignment||Topic||Summary Notes||Links and References|
Intro to Robot Lab
|Introduction to Robotics||Media:Introduction_to_Robotics.ppt|
|Week of October 8th||Assignment 1 due||Robotics Videos|
|Week of October 15th||SLAM||Media:SLAM.ppt|
|October 22||Assignment 2 due||Grading Assignment 2|
|October 29||Path Planning||Media:Robot-Lab-Path-Planning.ppt|
|November 12||Assignment 3 due|
|November 19||Thanksgiving holiday, no class Wed 11/21 or Friday 11/23|
|November 26||BioInspiredRobotDesignAssignment4 is due 11/30 by 5pm|
Required texts and readings:
- Intelligence without Representation, Rodney Brooks.
- Flesh and Machines: How Robots Will Change Us (Paperback) by Rodney Brooks, Publisher: Vintage (February 4, 2003); ISBN-10: 037572527X.
- Introduction to the Kalman Filter from UNC.
- SLAM for Dummies
Interested students may wish to examine the following textbooks:
- J.J. Craig. Introduction to Robotics: Mechanics and Control. Prentice Hall; 3rd edition, 2003.
- Kiyoshi Toko. Biomimetic Sensor Technology. Cambridge University Press, 2000.
- Karl Williams. Amphibionics: Build Your Own Biologically Inspired Reptilian Robot. McGraw-Hill/TAB Electronics, 2003.
- David Cook. Robot Building for Beginners. Apress, 2002.
The due dates are listed on the week by week breakdown of the course below. When an assignment is due on a particular date, that means the assignment is really due that week. You must arrange a time one of the TAs for this class, during the week the assignment is due in order to have your assignment evaluated and graded. As there are limited slots per TA session, it is best to schedule a time slot sooner rather than later. You also will have the opportunity to have your work graded after the lecture during the due week.
Depending on the evolution of the class, students may have an opportunity to gain experience with a variety of computational tools, including MATLAB, SolidWorks, Pro/ENGINEER, ACIS, MAPLE, etc. Several research prototype tools may also be introduced for physics-based modeling, kinematics, etc.
- A skeleton Eclipse Project to write full-fledged Java instead of Processing. Some directions here
- Another Eclipse Project - includes some classes from Lego Mindstorms Lejos Project concerning subsumption architecture.
- Download Eclipse here
Wiki page for Winter 2007 Roomba Lab: 
Page from Spring 2007 Robotics Lab: 
iRobot Create Forums: 
Robotics Primer Workbook based around the Create