1. UNC Chapel Hill D. Manocha COMP790-058 Robotics: An Introduction Mon/Wed 11:00am – 12:15pm (SN 115) http://gamma.cs.unc.edu/rob-course/public_html/ Dinesh Manocha FB250, 962-1749 dm@cs.unc.edu http://www.cs.unc.edu/~dm

2. UNC Chapel Hill D. Manocha Prerequisities Knowledge of calculus, differential equations, linear algebra and programming is assumed Knowledge of algorithms and analysis is a big plus

3. UNC Chapel Hill D. Manocha History of Robotics http://robotics.megagiant.com/history. html

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

5. UNC Chapel Hill D. Manocha 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.

6. UNC Chapel Hill D. Manocha 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

7. UNC Chapel Hill D. Manocha Space Exploration MARS Space Vehicles

8. UNC Chapel Hill D. Manocha Virtual Environments Sarco’s Threadport II Sarco’s Biport Iwata’s Gaitmaster

9. UNC Chapel Hill D. Manocha Haptic Rendering & Interfaces Interactive Manipulation of nanoStructures Haptic Painting

10. UNC Chapel Hill D. Manocha Design Automation & Rapid Prorotyping General Electric General Motors

11. UNC Chapel Hill D. Manocha Assembly Planning Generation of Instruction Manuals

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

13. UNC Chapel Hill D. Manocha Model Acquisition by Mobile Robot

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

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

16. UNC Chapel Hill D. Manocha Computer Games Game Playing & AICrowd Simulation

17. UNC Chapel Hill D. Manocha Bioinformatics & Computational Chemistry Drug Design - molecule docking Studying folding pathways & kinetics

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

19. UNC Chapel Hill D. Manocha Scouting & Rescue Snake Robots Fire Fighting Underwater Snake Robot Robot Demining

20. UNC Chapel Hill D. Manocha Entertainment & Education Dream Robot (Sony) Sony AIBO Dog ASIMO Humanoid Robot

21. UNC Chapel Hill D. Manocha Human-Robot Interaction A robot that moves and interacts with people

22. UNC Chapel Hill D. Manocha Household & Daily Use Automobile Route Planning Vaccum, Mopping, & Lawn Mowing

23. UNC Chapel Hill D. Manocha DARPA Grand Challenge Autonomous navigation for a collision-free 132-mile path with obstacle course in a desert

24. UNC Chapel Hill D. Manocha What Will We Be Doing Geometry  Collision Detection  Motion Planning: Single robot and multiple robots Mechanics  Forward and Inverse Kinematics  Rigid Body Dynamics  Articulated Body Dynamics Other introductory materials  SLAM  Sensing (Computer Vision) & Actuation  Control & Optimizations  Knowledge Representation & Semantics  Biologically-Inspired Robots  Applications

25. UNC Chapel Hill D. Manocha Also have fun with Roomba’s Programming assignments  Simple motion planning on a single Roomba  Multiple-robot motion planning

26. UNC Chapel Hill D. Manocha Robotics is Getting Hot! Success of Roomba DARPA Grand Challenge http://www.darpa.mil/GRANDCHALLENGE/ http://www.youtube.com/watch?v=AFh-p5eW_0o Humanoid Robots and Social Needs http://www.youtube.com/watch?v=Ce9AswIM4ls Latest Trend: Internet to Robotics http://www.cra.org/ccc/home.article.ttech.html