Robotics: Science and Systems CS 4610/5335
Transcript of Robotics: Science and Systems CS 4610/5335
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Robotics: Science and SystemsCS 4610/5335
Times: T/F, 3:25—5:05Course web page:
http://www.ccs.neu.edu/home/rplatt/cs5335_2016/index.htmlOffice Hours: Fridays, 11-12, 208B West Village H, or by Appt
TA: None!
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What is robotics?
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What is robotics?
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What is robotics?
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Focus of this course
Hardware? Smarts?or
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Hardware? Smarts!or
Focus of this course
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This course: objectives
1. Understand “the” basic problems in robotics
2. Understand a few key algorithms in detail
3. Learn mathematical/algorithmic tools that you can use elsewhere
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Course Prerequisites
1. Ability to program in Matlab (or the ability to learn to do this)
2. Comfortable with linear algebra and math in general.
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Reading material
Primary text: Robotics, vision, and control by Peter Corke
Additional text materials will be posted on schedule tab of course webpage.
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1. Kinematics & Cartesian Control
2. Planning/Control
3. Localization and mapping
4. Computer Vision and Point Clouds
Topics
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Kinematics and Cartesian Control
– How do we represent position/orientation targets for the hand?– How should the robot joints move in order to place the hand in a specific location?– How do we achieve specific desired hand trajectories?
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Planning and Control
– How does this guy remain standing upright?
– How should the robot arm move in order to avoid collisions?
– How does this plane fly?
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Localization and SLAM
– How can a robot localize itself, given a map?– How can a robot create a (metric) model of the environment as it moves?
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Computer vision and point clouds
– Object category detection (RGB) – Object pose estimation (pt cloud)