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

2. 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)

3. 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

4. Introduction (In Retrospect)

5. 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

6. 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

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

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

9. 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

15. Good luck for end-semester exam!