Special Topics in Computer Science Computational Modeling for Snake-Based Robots Introduction Week 1, Lecture 1

1. 1 Special Topics in Computer ScienceComputational Modeling for Snake-Based RobotsIntroductionWeek 1, Lecture 1 William Regli Geometric and Intelligent Computing Laboratory Department of Computer Science Drexel University http://gicl.cs.drexel.edu

2. 2 Team 1 Lead Institution: Drexel University PI William Regli, co-PI Michael Piasecki University of Maryland @ College Park SK Gupta University of North Carolina @ Chapel Hill Ming Lin and Dinesh Manocha University of Wisconsin @ Madison Nicola Ferrier, Vadim Shapiro, Krishnan Suresh

3. 3 About the Team W. Regli CS, ECE and Mech E 1997 NSF CAREER M. Piasecki Civil SK Gupta Mech E PECASE, CAREER, and ONR YIP M. Lin CS CAREER D. Manocha CS PYI, ONR YIP, Sloan Fellow N. Ferrier Mech E NSF CAREER V. Shapiro Mech E, Math & CS NSF CAREER K. Suresh Mech E

4. 4 Goals and Objectives Build and play with robots Course is fundamentally about modeling Mathematically model robot kinematics and dynamics Geometrically model robot design Virtually simulate robot behavior and performance Document experiences in GICL Wiki for Use by future generations of students Development of outreach materials (I.e. K-12) Development of demonstration materials Illustrate comprehensive, multidisciplinary, engineering modeling

5. 5 Course Outcomes The goal of this class is to build comprehensive engineering models of biologically-inspired robotic systems. Students completing this class will be able to identify problems resulting from the interdisciplinary interactions in bio-inspired robots; perform system engineering to design, test and build bio-bots; be able to apply informatics principles to bio-bot design and testing; gain experience using a variety of pedagogically appropriate hardware (i.e. Lego Mindstorms, Roombas, etc) and software tools (see above) for robot design/analysis.

6. 6 Hardware Available Lego MindStorms Robot Kits, V1 Note: I will buy V2 or other modules as needed IRobot Roomba Sony Aibo ERS 7M3 HP iPAQs 3800 and 5400 series

7. 7 Lego Mindstorms Kits 12+ 1st generation kits Motors, sensors, handyboards, etc Many examples on the web of bio-lego designs

8. 8 iRobot Roomba Basic vacuum cleaner robot, but Has USB port Hacker guides http://www.roombareview.com/hack/ Issues: Not particularly bio-inspired

9. 9 Sony Aibo Sadly, discontinued Happily, we have 2 Fully programmable Quadruped motion Internal wifi, cameras, etc Lots of tools on the internet for hacking Aibos

10. 10 Also available: HP iPaqs More interesting behaviors might require more computational power Several late-model HP iPaqs can be made available to the class

11. 11 Given the hardware,  What do we mean by modeling?

12. 12 What do we mean by modeling? There are several kinds we care about in this class System modeling Software, hardware, power, sensors and their interactions CAD/3D/Assembly Modeling Geometry, topology, constraints, joints and features Functional Modeling Intended use (or function) for the device (note, device may have other unintended functions or uses) Behavioral Modeling System inputs/outputs, motion characteristic, etc that achieve the function Physics-based modeling Statics, kinematics, dynamics and laws of physics Information Modeling Data, relationships, semantics (meaning)

13. 13 Basic Engineering for CS Students Statics: The branch of physics concerned with the analysis of loads (force, moment, torque) on a physical systems in static equilibrium, that is, in a state where the relative positions of subsystems do not vary over time, or where components and structures are at rest under the action of external forces of equilibrium. Kinematics: The branch of mechanics (physics) concerned with the motions of objects without being concerned with the forces that cause the motion. Inverse Kinematics: The process of determining the parameters of a jointed flexible object in order to achieve a desired pose. Dynamics: The branch of classical mechanics (physics) that is concerned with the effects of forces on the motion of objects.

14. 14 Physics-Based Modeling The creation of computational representations and models whose behaviors are governed by the laws of the physical world In the context of bio-inspired robots: create an virtual environment for creation, testing and simulation of virtual robot design

15. 15 An example of a multi-disciplinary engineering model

16. 16 Designing a �Windshield Wiper� From D. Macaulay, �How Things Work� What are the models? Functional Behavioral

17. 17 Models (1) Functional model The function of a windshield wiper is to remove dirt from the surface of a car�s windshield Behavioral model Input: motor rapidly rotating around the z axis Output: oscillation in the yz plane with low frequency

18. 18 Models (2) CAD Models 3D models with joints and constraints Typically consist of Part models Assembly model(s) Formats can be 3D solid or 3D wireframe

19. 19 Models (3): Information

20. 20 Models (3): Information Information modeling representations XML, OWL, FOL, UML� Information modeling tools Prot�g�, Ontobuilder, Rational, etc Information modeling tasks Knowledge engineering, ontology building, creating a knowledge base, functional modeling, etc.

21. 21 Physics-based Models Kinematics (i.e. Animation) Just move the parts based on joints & constraints Dynamics Incorporate forces, motor torques, power consumption, friction, etc Other issues: collision detection algorithms that check for intersection, calculate trajectories, impact times and impact points in a physical simulation

22. 22 End Result of this Class 10-to-12 comprehensive engineering models of bio-inspired robot designs Individuals, teams (1-to-2 people) All documentation in the Wiki �README.TXT�-like instructions so as to make work reproducible Your audience: Projects could be accessible to K-12 students or Frosh design

23. 23 Grading Three duties: 15%, Weekly scribe: everyone will get a turn scribing notes and discussion from each week�s class into the Wiki. The more details the better (i.e. scribe is encouraged to �back-fill� discussion with links and references and to-do items). 35% Weekly progress: each person/group will set up a project space in the Wiki to document complete design and modeling project Instructor will use the �discussion� mechanism to post feedback and monitor progress; students welcome to comment on the work of other students; vandalism harshly punished 50% Final project: due on or before finals week. Includes walking robot, mathematical and physical models, and Wiki pages.

24. 24 Bio-Inspired Robot Locomotion: Topics Explain motivation for bio-inspiration in mobile robot design What ideas can nature offer engineers? Can bio-inspired designs outperform traditional technology? Identify important design parameters in nature How can we quantify and evaluate nature? How can we measure maneuverability and the ability to navigate various terrain? Show successful implementation of bio-inspiration in mobile robot design How is the source for bio-inspiration chosen? How is the bio-inspiration implemented into the design? What advantages does the bio-inspired robot offer over the traditional robot alternatives?

25. 25 Some Concepts from Nature Cockroach Stick Insect Spider Scorpion Crab Lobster

26. 26 Some Concepts from Nature Snake Gecko Dinosaur

27. 27 Example: Snake Robot Applications Search and Rescue Urban environments Natural environments Planetary surface exploration Minimally invasive surgery / examination Pipe inspection / cable routing

28. 28 Example: Snake Robot Applications Snakes are also being used as inspiration for stationary robots that are capable of complex manipulations. Bridge inspection Disarming bombs Construction/repair in space

29. 29 Design Problem Application: Search and rescue Motivation Hazardous environments Further collapse Fire and toxic gases Narrow spaces Obstacles may be densely packed People, devices, or conventional robots may not fit

30. 30 Conventional Robots Require large cross sectional areas for passage due to wheels or legs Cannot navigate through narrow spaces Have limited maneuverability Limited by terrain and obstacle height

31. 31 Where do we start? Projects should focus on robot locomotion and gait Wheels are not allowed Identify bio-mimetic behaviors i.e. 4 legs, make a mathematical model of movement for each leg, how many joints does each leg need, etc Build some bots Legos are probably easiest to start with Iterate between working in the physical world and enhancing the virtual world Objective: create as complete and high-fidelity model as possible! When in the virtual world, you�ll need to learn about and teach yourself a number of tools CAD/CAE, 3D, etc.

32. 32 Project Examples 1-to-10 legged robot Turtle, ant, spider, etc. �Snake� that lifts its head i.e. climb up a stair step Jumping robot How high can you jump? How far (Frog)? Tumbling robot i.e. Star Wars Whatever your imagination can think up!

33. 33 Software to Investigate Anything is fair game! Part of this classes� goals is to explore what works best in the classroom Software is needed for Design Modeling Simulation

34. 34 Modeling Software CAD Systems Pro/ENGINEER SDRC/UG I-DEAS AutoCAD, MicroStation, SolidWorks Lower level Models: OpenCascade, ACIS, Parasolid Rendering: OpenGL, DirectX

35. 35 Simulation Software OpenSource Open Dynamics Engine Open Source dynamics & collision detection Game engines Havoc CAD Pro/MECHANICA, Adams, � Other Matlab, maple

36. 36 Initial Data Lego Models http://gicl.cs.drexel.edu/repository/datasets

37. 37 Discussion Topics Engineering Datatypes 2D/3D, standards, proprietary How to represent an assembly Role of the Wiki Expectations of the scribe Help spend money!

38. 38 Other Events This Term Two talks sponsored by GRASP Lab Fridays at 11am THIS FRIDAY: Daniella Rus, MIT Oct 13: Dinesh Manocha, UNC

39. 39 END

40. 40 Issues in Physics-Based Modeling of Bio-Robots One needs to algorithmically and

41. 41 Engineering Design