UNC Chapel Hill M. C. Lin COMP Robotics: An Introduction Tues/Thur 11:00am – 12:15pm (SN 115) Ming C. Lin SN223, Office Hours: TR 12:15-1:15pm or by Appointment

UNC Chapel Hill M. C. Lin Prerequisities Knowledge of calculus, differential equations, linear algebra and programming is assumed Knowledge of algorithms and analysis is a big plus

UNC Chapel Hill M. C. Lin Textbook & References In-class handouts Other research papers More references (books, papers, pointers to other interesting resources) available at the course website

UNC Chapel Hill M. C. Lin Course 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 Hill M. C. Lin Possible 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 Systems

UNC Chapel Hill M. C. Lin Space Exploration MARS Space Vehicles

UNC Chapel Hill M. C. Lin Virtual Environments Sarco’s Threadport II Sarco’s Biport Iwata’s Gaitmaster

UNC Chapel Hill M. C. Lin Haptic Rendering & Interfaces Interactive Manipulation of nanoStructures Haptic Painting

UNC Chapel Hill M. C. Lin Design Automation & Rapid Prorotyping General Electric General Motors

UNC Chapel Hill M. C. Lin Assembly Planning Generation of Instruction Manuals

UNC Chapel Hill M. C. Lin Assisted Technology Control & Obstacle Avoidance for Powered WheelChairs

UNC Chapel Hill M. C. Lin Medical Training & Robot Assisted Surgery Third Ventriculostomy (HT/Immersion Medical) Human Simulation (BDI) da Vinci Surgical System (Intuitive Surgery, Inc.)

UNC Chapel Hill M. C. Lin Model Acquisition by Mobile Robot

UNC Chapel Hill M. C. Lin Sensor Networks & Distributed Robotic Systems Multiple Autonomous Robots (UPENN) Solar-powered Underwater Robot for undersea observation

UNC Chapel Hill M. C. Lin Computer Animation Character Animation: ACM SIGGRAPH 1995 (Top) & Pixar Actors (Right Top & Bottom)

UNC Chapel Hill M. C. Lin Computer Games Game Playing & AICrowd Simulation

UNC Chapel Hill M. C. Lin Bioinformatics & Computational Chemistry Drug Design - molecule docking Studying folding pathways & kinetics

UNC Chapel Hill M. C. Lin Bio-Inspired Robots RiSE - Robotics in Scansorial Enviroments UPENN RHex Mecho-gecko Climbing Vehicle SPRAWL – Dynamic legged robot Boadicea – Hexaped with artificial muscles

UNC Chapel Hill M. C. Lin Scouting & Rescue Snake Robots Fire Fighting Underwater Snake Robot Robot Demining

UNC Chapel Hill M. C. Lin Entertainment & Education Dream Robot (Sony) Sony AIBO Dog ASIMO Humanoid Robot

UNC Chapel Hill M. C. Lin Human-Robot Interaction A robot that moves and interacts with people

UNC Chapel Hill M. C. Lin Household & Daily Use Automobile Route Planning Vaccum, Mopping, & Lawn Mowing

UNC Chapel Hill M. C. Lin DARPA Grand Challenge Autonomous navigation for a collision-free 132-mile path with obstacle course in a desert

UNC Chapel Hill M. C. Lin What Will We Be Doing Geometry  Collision Detection  Motion Planning Mechanics  Forward and Inverse Kinematics  Rigid Body Dynamics  Articulated Body Dynamics Other introductory materials  Sensing (Computer Vision) & Actuation  Control & Optimizations  Knowledge Representation & Semantics  Biologically-Inspired Robots  Applications

UNC Chapel Hill M. C. Lin See Course Website for more details……