ME512: Mobile Robotics Last Lecture

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Presentation transcript:

ME512: Mobile Robotics Last Lecture Atul Thakur, Assistant Professor Mechanical Engineering Department IIT Patna

Review of Material Covered in the Class Topics Project Introduction A semester long project Robot locomotion Legged, Crawling, Wheeled Mobile robot kinematics and dynamics Forward and Inverse Kinematics Wheeled robot kinematics Perception Sensing and Perception Types of sensors – proprioceptive, exteroceptive, active, passive Sensing noise Localization Markov Localization Kalman Localization Introduction to planning and navigation Graph search based techniques, dynamic programming, stochastic dynamic programming, probabilistic road maps (PRMs)

Learning Outcome Aspects of designing and modeling a mobile robot CAD modeling, multi-body dynamics simulation, Circuit building and knowhow of components (sensors and actuators) used in robotics Theoretical aspects of robot kinematics, dynamics, and robot gait design Path planning algorithms Localization Algorithms

Introduction (In Retrospect)

What is Mobile Robotics? A robot that can move unsupervised in real world to perform a task is mobile robot Mobile robotics is study of enabling technologies for building and programming mobile robots Some examples of mobile robots Television camera Range finder Controllers One of first mobile robots, Stanford, Nillson 1969 Asimo, Honda 2000 BigDog, Boston Dynamics 2005 Mars Rover Curiosity, NASA 2012

Challenges in Mobile Robotics Robot design Communication (robots own component as well as other robots) Energy Know about the environment Building map Know about location of robot in the environment Localization Determine optimal plan to reach to goal Path and trajectory planning Execute plan efficiently to accomplish task Control

Mobile Robotics: System View Environment Hardware Robot Structure Sensors Microcontroller Actuators Software Control Localization Mapping Planning

Control Scheme R. Siegwart and I. R. Nourbauksh, Introduction to Autonomous mobile robots, MIT Press

State of Art Robotics Technologies Hardware Smart materials for sensors and actuators Electroactive Polymers (EAP) Shape Memory Alloy (SMA) Magnetorheological fluids Piezoelectric Materials Software Robot Operating System (ROS) Cloud-Enabled Robotics Internet of things

Good luck for end-semester exam!