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Introductory Lecture

This introductory lecture provides information on grading, types of projects, and general information about the class. It covers various levels of robot creation, including robot system integration, programming, teaching, language, system architecture, and more. Hardware and software projects are discussed, along with specific project ideas for the fall semester. The lecture emphasizes the importance of mechanical design and the real-time nature of robot programming.

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Introductory Lecture

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  1. Introductory Lecture About class Grading Types of projects for this class General Information

  2. This material is easy and part of it you can read by yourself. • When you read it, please think how you can apply these ideas in practical robots. • Look also to internet to find who sells these and similar items that can be used in your robot

  3. General Information • Find my webpage • Find class webpage • Read it regularly • There will be always new materials posted. • We will have additional meetings with me related to class material and projects • There is laboratory for this class, which is graded. Melih will talk about it.

  4. Class Grading • Class attendance (10%) • Homework 1 (10%) (can be part of final project) • Homework 2 (10%) (can be part of final project) • Total of unexpected quizzes (10%) • Formal Presentation of student’s work presented to the class (10%) • Lab attendance, work, and partial project reports returned to Melih (30%) • Final Project Report delivered to Perkowski (20%)

  5. Levels of robot creation Robot System Integration Robot Application Programming Robot Teaching Robot Language Robot System Architecture Internet MOTORS and ACTUATORS Sensor and Vision Mechanical Robot Design • A class as a whole covers all of the above • Your project(s) should cover few of these

  6. Conclusion on projects • Mechanical design is an important component of this class • This class is not only programming, you have to pay more attention to mechanical and interfacing aspects of robot design. • Robot programming is different from standard programming, it is a real time application programming.

  7. Hardware Projects for Fall 478 (some software needed to demonstrate the functionality • Design an arm for a large humanoid robot using aluminum bars and brackets, not 3D printed. • Arm 3D printed for a robot • Design a head of a large humanoid robot that will replace InMoov’s head. Not 3D printed. Concentrate on sensors and motion. • Design a leg for a large humanoid robot. Not for walking for all kinds of gymnastic exercises.

  8. Software Projects (no new hardware design) • Jimmy robot theatre using Bhutada’s language and system • Jimmy robot theatre using Tony Muilenburg’s language and system • Jimmy robot theatre using Mathias Sunardi’s language and system (Mathias helps) • Robot for the Dean – MCESBOT or Mr. Jeeves

  9. Humanoid Mobile Robots

  10. Levels of robot creation: MCECSBOT = the guide robot for the dean Robot System Integration (navigation) Robot Application Programming Robot Teaching Robot Language Robot System Architecture Internet MOTORS and ACTUATORS Sensor and Vision Mechanical Robot Design • Second hand should be added, head and neck should be added • Navigation, Localization, obstacle avoidance must be improved • A robot language can be developed or adapted in place of current improvisation • Robot safety, reliability and self-test • Needs internet link and external tele-control

  11. Levels of robot creation: Albert Einstein Robot System Integration (Kinect control of gestures) Robot Application Programming Robot Teaching Robot Language Robot System Architecture Internet MOTORS and ACTUATORS Sensor and Vision Mechanical Robot Design • Hands should be added • Head animation should be restored • Navigation, Localization, obstacle avoidance must be integrated again • A robot language can be developed or adapted in place of current improvisation • Needs internet link and external tele-control • Needs to integrate KINECT from outside the window

  12. Levels of robot creation: 478 Countess Quanta LOKI = GUIDEBOT = PEOPLEBOT Robot System Integration (playing music with gestures) Robot Application Programming Robot Teaching Robot Language Robot System Architecture Internet MOTORS and ACTUATORS Sensor and Vision Mechanical Robot Design • Second hand should also play an instrument • Navigation, Localization, obstacle avoidance must be integrated again • A robot language can be developed or adapted in place of current improvisation • Needs internet link and external tele-control • Needs to add KINECT and other sensors

  13. Humanoid Stationary Robots

  14. Levels of robot creation: Marie Curie Robot System Integration (playing music with gestures) Robot Application Programming Robot Teaching Robot Language Robot System Architecture Internet MOTORS and ACTUATORS Sensor and Vision Mechanical Robot Design • Curie waits for legs and lower torso • A robot language can be developed or adapted in place of current improvisation • Needs internet link and external tele-control • Needs to add KINECT and other sensors

  15. Levels of robot creation: Frankenstein’s Monster Robot System Integration Robot Application Programming Robot Teaching Robot Language Robot System Architecture Internet MOTORS and ACTUATORS Sensor and Vision Mechanical Robot Design • Hands must be animated • It should play an instrument • Legs and lower body should be added and animated • A robot language can be developed or adapted in place of current improvisation • Needs internet link and external tele-control • Needs to add KINECT and other sensors

  16. Levels of robot creation: Sir Isaac Newton Robot System Integration (dances with sword) Robot Application Programming Robot Teaching Robot Language Robot System Architecture Internet MOTORS and ACTUATORS Sensor and Vision Mechanical Robot Design • Second hand must be added • Mobile base can be added • It should play an instrument • A robot language can be developed or adapted • Needs internet link and external tele-control • Needs to add KINECT and other sensors

  17. Levels of robot creation: Rhino =A chemist robot Robot System Integration (control by hand gestures) Robot Application Programming Robot Teaching Robot Language Robot System Architecture Internet MOTORS and ACTUATORS Sensor and Vision Mechanical Robot Design • Head must be added • It should perform chemical experiments • A robot language can be developed or adapted • Needs internet link and external tele-control • Needs to add KINECT and other sensors

  18. Conclusion on projects • Mechanical design is an important component of this class • This class is not only programming, you have to pay more attention to mechanical and interfacing aspects of robot design. • Robot programming is different from standard programming, it is a real time application programming.

  19. Class information • Get key for the lab from departmental secretary • Find or create a project group. Talk to other members, give me information on Thursday. • Find page Perkowski Page on Google • Find class 479 below the Embedded Robotics 478 class. • User id = logic, password = synthesis.

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