Robot Lab(Spring 2009)
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Revision as of 03:16, 24 March 2009
Contents |
Announcements
- Class will meet weekly, starting April 1, 2009.
Course Logistics
Prerequisites: Permission of instructor.
Class Time: W 18:00->21:50
Class Location: TBD
Office Hours: By appointment only
Course Instructor: William C. Regli, Ph.D.
Teaching Assistants: Marc Winners <maw59@drexel.edu>, Chris Cannon <ctc82@drexel.edu>,
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
Lectures
| Date | Assignment | Topic | Summary Notes | Links and References | |
|---|---|---|---|---|---|
| September 24 |
Intro to Robot Lab |
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| Introduction to Robotics | Media:Introduction_to_Robotics.ppt | ||||
| September 26 | Simulation | Media:Simulation_of_Robotic_Systems.ppt | |||
| September 26 | Simulation | Media:Simulation_of_Robotic_Systems.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 |
Texts
Relevant 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
- 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.
Grading
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.
Software
This class will be nearly entirely executed in simulation using Play/Stage/Gazebo. Students not comfortable with software development, hacking and programming will find this course difficult, if not impossible. We will not be providing remedial programming or operating systems tutorials in this course. All information needed to execute the assignments is available (or will be made available) on the web, either at the course wiki page or using services like http://lmgtfy.com/.
Miscellaneous Resources
Wiki page for Winter 2007 Roomba Lab: [1]
Page from Spring 2007 Robotics Lab: [2]
iRobot Create Forums: [3]
Robotics Primer Workbook based around the Create [4]
