Robot Motion Planning

Size: px
Start display at page:

Download "Robot Motion Planning"

Transcription

1 Robot Motion Planning Dinesh Manocha The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

2 Robots are used everywhere HRP4C humanoid Swarm robots da vinci Big dog MEMS bugs Snake robot 2 The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

3 Robots are used everywhere The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

4 Robot System desired task desired trajectory F C A movement S + S F: Feedforward C: Control A: Actuator S: Sensor S + : Sensor post-processing motion planning and trajectory generation 4

5 Robot Motion Planning Given initial setting A of the robot, find a valid or optimal trajectory for the robot to reach goal B Collision-free Other constraints (balance) Optimal criteria (shortest path, min-time...) Goal B Initial A 5

6 Motion Planning Motion planning (a.k.a., the "navigation problem", the "piano mover's problem") is a term used in robotics for the process of detailing a task into discrete motions (Wikipedia)

7 Motion Planning (the words) Planning: a matter of symbols and graph search Motion: a continuous function from time to space Motion Planning: a computational topology problem

8 Motion in Virtual Worlds Computer games Computer generated simulations Virtual prototyping systems Examples: 1. kineo/index.shtml (Kineo) The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

9 Smart Robots or Agents Autonomous agents that sense, plan, and act in real and/or virtual worlds Algorithms and systems for representing, capturing, planning, controlling, and rendering motions of physical objects Applications: Manufacturing Mobile robots Computational biology Computer-assisted surgery Digital actors The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

10 Goal of Motion Planning Compute motion strategies, e.g.: geometric paths time-parameterized trajectories sequence of sensor-based motion commands aesthetic constraints To achieve high-level goals, e.g.: go to A without colliding with obstacles assemble product P build map of environment E find object O

11 Basic Motion Planning Problem Statement: Compute a collision-free path for an object (the robot) among obstacles subject to CONSTRAINTS Inputs: Geometry of robot and obstacles Kinematics of robot (degrees of freedom) Initial and goal robot configurations (placements) Outputs: Continuous sequence of collision-free robot configurations connecting the initial and goal configurations The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

12 Examples with Rigid Object à Ladder problem Piano-mover problem ß

13 Is It Easy?

14 Example with Articulated Object

15 Some Extensions of Basic Problem Moving obstacles Multiple robots Movable objects Assembly planning Goal is to acquire information by sensing Model building Object finding/tracking Inspection Nonholonomic constraints Dynamic constraints Stability constraints Optimal planning Uncertainty in model, control and sensing Exploiting task mechanics (sensorless motions, underactualted systems) Physical models and deformable objects Integration of planning and control Integration with higherlevel planning

16 Examples of Applications Manufacturing: Robot programming Robot placement Design of part feeders Design for manufacturing and servicing Design of pipe layouts and cable harnesses Autonomous mobile robots planetary exploration, surveillance, military scouting Graphic animation of digital actors for video games, movies, and webpages Virtual walkthru Medical surgery planning Generation of plausible molecule motions, e.g., docking and folding motions Building code verification

17 Design for Manufacturing/Servicing General Motors General Motors General Electric

18 Assembly Planning and Design of Manufacturing Systems

19 Application: Checking Building Code

20 Cable Harness/ Pipe design

21 Humanoid Robot [Kuffner and Inoue, 2000] (U. Tokyo)

22 Digital Actors A Bug s Life (Pixar/Disney) Toy Story (Pixar/Disney) Tomb Raider 3 (Eidos Interactive) The Legend of Zelda (Nintendo) Antz (Dreamworks) Final Fantasy VIII (SquareOne)

23 Motion Planning for Digital Actors Manipulation Sensory-based locomotion

24 Application: Computer-Assisted Surgical Planning

25 Radiosurgical Planning Cyberknife

26 Surgeon Specifies Dose Constraints Dose to the Critical Region Tumor Dose to the Tumor Region Critical Fall-off of Dose Around the Tumor Fall-off of Dose in the Critical Region

27 Study of the Motion of Bio-Molecules Protein folding Ligand binding

28 Application: Prediction of Molecular Motions

29 DARPA Grand Challenge Planning for a collision-free 132 mile path in a desert The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

30 Motion UNC Robot Motion Planning Multi-Agent Simulation The UNIVERSITY of NORTH CAROLINA at CHAPEL HILL

CS686: Robot Motion Planning and Applications

CS686: Robot Motion Planning and Applications CS686: Robot Motion Planning and Applications Sung-Eui Yoon ( 윤성의 ) Course URL: http://sglab.kaist.ac.kr/~sungeui/mpa About the Instructor Main research theme Work on large-scale problems related to motion

More information

The Future of AI A Robotics Perspective

The Future of AI A Robotics Perspective The Future of AI A Robotics Perspective Wolfram Burgard Autonomous Intelligent Systems Department of Computer Science University of Freiburg Germany The Future of AI My Robotics Perspective Wolfram Burgard

More information

CS123. Programming Your Personal Robot. Part 3: Reasoning Under Uncertainty

CS123. Programming Your Personal Robot. Part 3: Reasoning Under Uncertainty CS123 Programming Your Personal Robot Part 3: Reasoning Under Uncertainty This Week (Week 2 of Part 3) Part 3-3 Basic Introduction of Motion Planning Several Common Motion Planning Methods Plan Execution

More information

Real-time Adaptive Robot Motion Planning in Unknown and Unpredictable Environments

Real-time Adaptive Robot Motion Planning in Unknown and Unpredictable Environments Real-time Adaptive Robot Motion Planning in Unknown and Unpredictable Environments IMI Lab, Dept. of Computer Science University of North Carolina Charlotte Outline Problem and Context Basic RAMP Framework

More information

Motion planning in mobile robots. Britta Schulte 3. November 2014

Motion planning in mobile robots. Britta Schulte 3. November 2014 Motion planning in mobile robots Britta Schulte 3. November 2014 Motion planning in mobile robots Introduction Basic Problem and Configuration Space Planning Algorithms Roadmap Cell Decomposition Potential

More information

Graphical Simulation and High-Level Control of Humanoid Robots

Graphical Simulation and High-Level Control of Humanoid Robots In Proc. 2000 IEEE RSJ Int l Conf. on Intelligent Robots and Systems (IROS 2000) Graphical Simulation and High-Level Control of Humanoid Robots James J. Kuffner, Jr. Satoshi Kagami Masayuki Inaba Hirochika

More information

ME7752: Mechanics and Control of Robots Lecture 1

ME7752: Mechanics and Control of Robots Lecture 1 ME7752: Mechanics and Control of Robots Lecture 1 Instructor: Manoj Srinivasan Office: E340 Scott Laboratory Email: srinivasan.88@osu.edu ( PDF posted. In the PDF, if there are no links to videos, do a

More information

Recommended Text. Logistics. Course Logistics. Intelligent Robotic Systems

Recommended Text. Logistics. Course Logistics. Intelligent Robotic Systems Recommended Text Intelligent Robotic Systems CS 685 Jana Kosecka, 4444 Research II kosecka@gmu.edu, 3-1876 [1] S. LaValle: Planning Algorithms, Cambridge Press, http://planning.cs.uiuc.edu/ [2] S. Thrun,

More information

ROBOTICS ENG YOUSEF A. SHATNAWI INTRODUCTION

ROBOTICS ENG YOUSEF A. SHATNAWI INTRODUCTION ROBOTICS INTRODUCTION THIS COURSE IS TWO PARTS Mobile Robotics. Locomotion (analogous to manipulation) (Legged and wheeled robots). Navigation and obstacle avoidance algorithms. Robot Vision Sensors and

More information

Robotics Enabling Autonomy in Challenging Environments

Robotics Enabling Autonomy in Challenging Environments Robotics Enabling Autonomy in Challenging Environments Ioannis Rekleitis Computer Science and Engineering, University of South Carolina CSCE 190 21 Oct. 2014 Ioannis Rekleitis 1 Why Robotics? Mars exploration

More information

Robotic System Simulation and Modeling Stefan Jörg Robotic and Mechatronic Center

Robotic System Simulation and Modeling Stefan Jörg Robotic and Mechatronic Center Robotic System Simulation and ing Stefan Jörg Robotic and Mechatronic Center Outline Introduction The SAFROS Robotic System Simulator Robotic System ing Conclusions Folie 2 DLR s Mirosurge: A versatile

More information

Autonomous Surgical Robotics

Autonomous Surgical Robotics Nicolás Pérez de Olaguer Santamaría Autonomous Surgical Robotics 1 / 29 MIN Faculty Department of Informatics Autonomous Surgical Robotics Nicolás Pérez de Olaguer Santamaría University of Hamburg Faculty

More information

Autonomous and Mobile Robotics Prof. Giuseppe Oriolo. Introduction: Applications, Problems, Architectures

Autonomous and Mobile Robotics Prof. Giuseppe Oriolo. Introduction: Applications, Problems, Architectures Autonomous and Mobile Robotics Prof. Giuseppe Oriolo Introduction: Applications, Problems, Architectures organization class schedule 2017/2018: 7 Mar - 1 June 2018, Wed 8:00-12:00, Fri 8:00-10:00, B2 6

More information

Cognitive robots and emotional intelligence Cloud robotics Ethical, legal and social issues of robotic Construction robots Human activities in many

Cognitive robots and emotional intelligence Cloud robotics Ethical, legal and social issues of robotic Construction robots Human activities in many Preface The jubilee 25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016 was held in the conference centre of the Best Western Hotel M, Belgrade, Serbia, from 30 June to 2 July

More information

What is AI? AI is the reproduction of human reasoning and intelligent behavior by computational methods. an attempt of. Intelligent behavior Computer

What is AI? AI is the reproduction of human reasoning and intelligent behavior by computational methods. an attempt of. Intelligent behavior Computer What is AI? an attempt of AI is the reproduction of human reasoning and intelligent behavior by computational methods Intelligent behavior Computer Humans 1 What is AI? (R&N) Discipline that systematizes

More information

Planning in autonomous mobile robotics

Planning in autonomous mobile robotics Sistemi Intelligenti Corso di Laurea in Informatica, A.A. 2017-2018 Università degli Studi di Milano Planning in autonomous mobile robotics Nicola Basilico Dipartimento di Informatica Via Comelico 39/41-20135

More information

Transactions on Information and Communications Technologies vol 6, 1994 WIT Press, ISSN

Transactions on Information and Communications Technologies vol 6, 1994 WIT Press,   ISSN Application of artificial neural networks to the robot path planning problem P. Martin & A.P. del Pobil Department of Computer Science, Jaume I University, Campus de Penyeta Roja, 207 Castellon, Spain

More information

PHYSICAL ROBOTS PROGRAMMING BY IMITATION USING VIRTUAL ROBOT PROTOTYPES

PHYSICAL ROBOTS PROGRAMMING BY IMITATION USING VIRTUAL ROBOT PROTOTYPES Bulletin of the Transilvania University of Braşov Series I: Engineering Sciences Vol. 6 (55) No. 2-2013 PHYSICAL ROBOTS PROGRAMMING BY IMITATION USING VIRTUAL ROBOT PROTOTYPES A. FRATU 1 M. FRATU 2 Abstract:

More information

Robots in the Field of Medicine

Robots in the Field of Medicine Robots in the Field of Medicine Austin Gillis and Peter Demirdjian Malden Catholic High School 1 Pioneers Robots in the Field of Medicine The use of robots in medicine is where it is today because of four

More information

Chapter 1 Introduction to Robotics

Chapter 1 Introduction to Robotics Chapter 1 Introduction to Robotics PS: Most of the pages of this presentation were obtained and adapted from various sources in the internet. 1 I. Definition of Robotics Definition (Robot Institute of

More information

SnakeSIM: a Snake Robot Simulation Framework for Perception-Driven Obstacle-Aided Locomotion

SnakeSIM: a Snake Robot Simulation Framework for Perception-Driven Obstacle-Aided Locomotion : a Snake Robot Simulation Framework for Perception-Driven Obstacle-Aided Locomotion Filippo Sanfilippo 1, Øyvind Stavdahl 1 and Pål Liljebäck 1 1 Dept. of Engineering Cybernetics, Norwegian University

More information

Development of PetRo: A Modular Robot for Pet-Like Applications

Development of PetRo: A Modular Robot for Pet-Like Applications Development of PetRo: A Modular Robot for Pet-Like Applications Ben Salem * Polywork Ltd., Sheffield Science Park, Cooper Buildings, Arundel Street, Sheffield, S1 2NS, England ABSTRACT We have designed

More information

Introduction of Research Activity in Mechanical Systems Design Laboratory (Takeda s Lab) in Tokyo Tech

Introduction of Research Activity in Mechanical Systems Design Laboratory (Takeda s Lab) in Tokyo Tech Introduction of Research Activity in Mechanical Systems Design Laboratory (Takeda s Lab) in Tokyo Tech Kinematic design of asymmetrical position-orientation decoupled parallel mechanism with 5 dof Pipe

More information

Russell and Norvig: an active, artificial agent. continuum of physical configurations and motions

Russell and Norvig: an active, artificial agent. continuum of physical configurations and motions Chapter 8 Robotics Christian Jacob jacob@cpsc.ucalgary.ca Department of Computer Science University of Calgary 8.5 Robot Institute of America defines a robot as a reprogrammable, multifunction manipulator

More information

* Intelli Robotic Wheel Chair for Specialty Operations & Physically Challenged

* Intelli Robotic Wheel Chair for Specialty Operations & Physically Challenged ADVANCED ROBOTICS SOLUTIONS * Intelli Mobile Robot for Multi Specialty Operations * Advanced Robotic Pick and Place Arm and Hand System * Automatic Color Sensing Robot using PC * AI Based Image Capturing

More information

Moving Obstacle Avoidance for Mobile Robot Moving on Designated Path

Moving Obstacle Avoidance for Mobile Robot Moving on Designated Path Moving Obstacle Avoidance for Mobile Robot Moving on Designated Path Taichi Yamada 1, Yeow Li Sa 1 and Akihisa Ohya 1 1 Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1,

More information

EE631 Cooperating Autonomous Mobile Robots. Lecture 1: Introduction. Prof. Yi Guo ECE Department

EE631 Cooperating Autonomous Mobile Robots. Lecture 1: Introduction. Prof. Yi Guo ECE Department EE631 Cooperating Autonomous Mobile Robots Lecture 1: Introduction Prof. Yi Guo ECE Department Plan Overview of Syllabus Introduction to Robotics Applications of Mobile Robots Ways of Operation Single

More information

CAPACITIES FOR TECHNOLOGY TRANSFER

CAPACITIES FOR TECHNOLOGY TRANSFER CAPACITIES FOR TECHNOLOGY TRANSFER The Institut de Robòtica i Informàtica Industrial (IRI) is a Joint University Research Institute of the Spanish Council for Scientific Research (CSIC) and the Technical

More information

EE631 Cooperating Autonomous Mobile Robots. Lecture 1: Introduction. Prof. Yi Guo ECE Department

EE631 Cooperating Autonomous Mobile Robots. Lecture 1: Introduction. Prof. Yi Guo ECE Department EE631 Cooperating Autonomous Mobile Robots Lecture 1: Introduction Prof. Yi Guo ECE Department Plan Overview of Syllabus Introduction to Robotics Applications of Mobile Robots Ways of Operation Single

More information

Adaptive Humanoid Robot Arm Motion Generation by Evolved Neural Controllers

Adaptive Humanoid Robot Arm Motion Generation by Evolved Neural Controllers Proceedings of the 3 rd International Conference on Mechanical Engineering and Mechatronics Prague, Czech Republic, August 14-15, 2014 Paper No. 170 Adaptive Humanoid Robot Arm Motion Generation by Evolved

More information

Introduction to robotics. Md. Ferdous Alam, Lecturer, MEE, SUST

Introduction to robotics. Md. Ferdous Alam, Lecturer, MEE, SUST Introduction to robotics Md. Ferdous Alam, Lecturer, MEE, SUST Hello class! Let s watch a video! So, what do you think? It s cool, isn t it? The dedication is not! A brief history The first digital and

More information

FALL 2014, Issue No. 32 ROBOTICS AT OUR FINGERTIPS

FALL 2014, Issue No. 32 ROBOTICS AT OUR FINGERTIPS FALL 2014, Issue No. 32 ROBOTICS AT OUR FINGERTIPS FALL 2014 Issue No. 32 12 CYBERSECURITY SOLUTION NSF taps UCLA Engineering to take lead in encryption research. Cover Photo: Joanne Leung 6MAN AND MACHINE

More information

Multiple-Agent Surveillance Mission with Non-Stationary Obstacles

Multiple-Agent Surveillance Mission with Non-Stationary Obstacles Multiple-Agent Surveillance Mission with Non-Stationary Obstacles Kaveh Albekord kalbekord@yahoo.com Adam Watkins awatts@ufl.edu Gloria Wiens gwiens@ufl.edu Norman Fitz-Coy nfc@ufl.edu Department of Mechanical

More information

On-demand printable robots

On-demand printable robots On-demand printable robots Ankur Mehta Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology 3 Computational problem? 4 Physical problem? There s a robot for that.

More information

ARTIFICIAL INTELLIGENCE - ROBOTICS

ARTIFICIAL INTELLIGENCE - ROBOTICS ARTIFICIAL INTELLIGENCE - ROBOTICS http://www.tutorialspoint.com/artificial_intelligence/artificial_intelligence_robotics.htm Copyright tutorialspoint.com Robotics is a domain in artificial intelligence

More information

FORCE FEEDBACK. Roope Raisamo

FORCE FEEDBACK. Roope Raisamo FORCE FEEDBACK Roope Raisamo Multimodal Interaction Research Group Tampere Unit for Computer Human Interaction Department of Computer Sciences University of Tampere, Finland Outline Force feedback interfaces

More information

NCCT IEEE PROJECTS ADVANCED ROBOTICS SOLUTIONS. Latest Projects, in various Domains. Promise for the Best Projects

NCCT IEEE PROJECTS ADVANCED ROBOTICS SOLUTIONS. Latest Projects, in various Domains. Promise for the Best Projects NCCT Promise for the Best Projects IEEE PROJECTS in various Domains Latest Projects, 2009-2010 ADVANCED ROBOTICS SOLUTIONS EMBEDDED SYSTEM PROJECTS Microcontrollers VLSI DSP Matlab Robotics ADVANCED ROBOTICS

More information

Available theses (October 2011) MERLIN Group

Available theses (October 2011) MERLIN Group Available theses (October 2011) MERLIN Group Politecnico di Milano - Dipartimento di Elettronica e Informazione MERLIN Group 2 Luca Bascetta bascetta@elet.polimi.it Gianni Ferretti ferretti@elet.polimi.it

More information

Henry Lin, Department of Electrical and Computer Engineering, California State University, Bakersfield Lecture 8 (Robotics) July 25 th, 2012

Henry Lin, Department of Electrical and Computer Engineering, California State University, Bakersfield Lecture 8 (Robotics) July 25 th, 2012 Henry Lin, Department of Electrical and Computer Engineering, California State University, Bakersfield Lecture 8 (Robotics) July 25 th, 2012 1 2 Robotic Applications in Smart Homes Control of the physical

More information

Robot Assessment Report

Robot Assessment Report Robot Assessment Report Report Date 2009-05-27 Report Responsible Customer Information Company Name Address N/A Location N/A Controller Information Controllers S/N 66-33752 Controller Time (Hours) 20800

More information

Introduction to Robotics

Introduction to Robotics Introduction to Robotics CIS 32.5 Fall 2009 Simon Parsons Brooklyn College Textbook (slides taken from those provided by Siegwart and Nourbakhsh with a (few) additions) Intelligent Robotics and Autonomous

More information

An Introduction To Modular Robots

An Introduction To Modular Robots An Introduction To Modular Robots Introduction Morphology and Classification Locomotion Applications Challenges 11/24/09 Sebastian Rockel Introduction Definition (Robot) A robot is an artificial, intelligent,

More information

Optimal Motion Planning of a Space Robot with Base Disturbance Minimization

Optimal Motion Planning of a Space Robot with Base Disturbance Minimization Optimal Motion Planning of a Space Robot with Base Disturbance Minimization Authors: Eric Kaigom, Thomas Jung, Jürgen Rossmann Institute forman MachineInteraction, RWTH Aachen University 1 Virtualize Robotic

More information

2. Introduction to Computer Haptics

2. Introduction to Computer Haptics 2. Introduction to Computer Haptics Seungmoon Choi, Ph.D. Assistant Professor Dept. of Computer Science and Engineering POSTECH Outline Basics of Force-Feedback Haptic Interfaces Introduction to Computer

More information

CS494/594: Software for Intelligent Robotics

CS494/594: Software for Intelligent Robotics CS494/594: Software for Intelligent Robotics Spring 2007 Tuesday/Thursday 11:10 12:25 Instructor: Dr. Lynne E. Parker TA: Rasko Pjesivac Outline Overview syllabus and class policies Introduction to class:

More information

Robot Motion Control and Planning

Robot Motion Control and Planning Robot Motion Control and Planning http://www.cs.bilkent.edu.tr/~saranli/courses/cs548 Lecture 1 Introduction and Logistics Uluç Saranlı http://www.cs.bilkent.edu.tr/~saranli CS548 - Robot Motion Control

More information

Funzionalità per la navigazione di robot mobili. Corso di Robotica Prof. Davide Brugali Università degli Studi di Bergamo

Funzionalità per la navigazione di robot mobili. Corso di Robotica Prof. Davide Brugali Università degli Studi di Bergamo Funzionalità per la navigazione di robot mobili Corso di Robotica Prof. Davide Brugali Università degli Studi di Bergamo Variability of the Robotic Domain UNIBG - Corso di Robotica - Prof. Brugali Tourist

More information

AGENT PLATFORM FOR ROBOT CONTROL IN REAL-TIME DYNAMIC ENVIRONMENTS. Nuno Sousa Eugénio Oliveira

AGENT PLATFORM FOR ROBOT CONTROL IN REAL-TIME DYNAMIC ENVIRONMENTS. Nuno Sousa Eugénio Oliveira AGENT PLATFORM FOR ROBOT CONTROL IN REAL-TIME DYNAMIC ENVIRONMENTS Nuno Sousa Eugénio Oliveira Faculdade de Egenharia da Universidade do Porto, Portugal Abstract: This paper describes a platform that enables

More information

UNIT VI. Current approaches to programming are classified as into two major categories:

UNIT VI. Current approaches to programming are classified as into two major categories: Unit VI 1 UNIT VI ROBOT PROGRAMMING A robot program may be defined as a path in space to be followed by the manipulator, combined with the peripheral actions that support the work cycle. Peripheral actions

More information

Obstacle avoidance based on fuzzy logic method for mobile robots in Cluttered Environment

Obstacle avoidance based on fuzzy logic method for mobile robots in Cluttered Environment Obstacle avoidance based on fuzzy logic method for mobile robots in Cluttered Environment Fatma Boufera 1, Fatima Debbat 2 1,2 Mustapha Stambouli University, Math and Computer Science Department Faculty

More information

Designing Better Industrial Robots with Adams Multibody Simulation Software

Designing Better Industrial Robots with Adams Multibody Simulation Software Designing Better Industrial Robots with Adams Multibody Simulation Software MSC Software: Designing Better Industrial Robots with Adams Multibody Simulation Software Introduction Industrial robots are

More information

Collective Robotics. Marcin Pilat

Collective Robotics. Marcin Pilat Collective Robotics Marcin Pilat Introduction Painting a room Complex behaviors: Perceptions, deductions, motivations, choices Robotics: Past: single robot Future: multiple, simple robots working in teams

More information

Robots for Medicine and Personal Assistance. Guest lecturer: Ron Alterovitz

Robots for Medicine and Personal Assistance. Guest lecturer: Ron Alterovitz Robots for Medicine and Personal Assistance Guest lecturer: Ron Alterovitz Growth of Robotics Industry Worldwide $70 $56 Market Size (Billions) $42 $28 $14 $0 1995 2000 2005 2010 2015 2020 2025 Source:

More information

Haptic Virtual Fixtures for Robot-Assisted Manipulation

Haptic Virtual Fixtures for Robot-Assisted Manipulation Haptic Virtual Fixtures for Robot-Assisted Manipulation Jake J. Abbott, Panadda Marayong, and Allison M. Okamura Department of Mechanical Engineering, The Johns Hopkins University {jake.abbott, pmarayong,

More information

What is a robot. Robots (seen as artificial beings) appeared in books and movies long before real applications. Basilio Bona ROBOTICS 01PEEQW

What is a robot. Robots (seen as artificial beings) appeared in books and movies long before real applications. Basilio Bona ROBOTICS 01PEEQW ROBOTICS 01PEEQW An Introduction Basilio Bona DAUIN Politecnico di Torino What is a robot According to the Robot Institute of America (1979) a robot is: A reprogrammable, multifunctional manipulator designed

More information

Available theses (October 2012) MERLIN Group

Available theses (October 2012) MERLIN Group Available theses (October 2012) MERLIN Group Politecnico di Milano - Dipartimento di Elettronica e Informazione MERLIN Group 2 Luca Bascetta bascetta@elet.polimi.it Gianni Ferretti ferretti@elet.polimi.it

More information

Image Guided Robotic Assisted Surgical Training System using LabVIEW and CompactRIO

Image Guided Robotic Assisted Surgical Training System using LabVIEW and CompactRIO Image Guided Robotic Assisted Surgical Training System using LabVIEW and CompactRIO Weimin Huang 1, Tao Yang 1, Liang Jing Yang 2, Chee Kong Chui 2, Jimmy Liu 1, Jiayin Zhou 1, Jing Zhang 1, Yi Su 3, Stephen

More information

Force feedback interfaces & applications

Force feedback interfaces & applications Force feedback interfaces & applications Roope Raisamo Tampere Unit for Computer-Human Interaction (TAUCHI) School of Information Sciences University of Tampere, Finland Based on material by Jukka Raisamo,

More information

Wireless Robust Robots for Application in Hostile Agricultural. environment.

Wireless Robust Robots for Application in Hostile Agricultural. environment. Wireless Robust Robots for Application in Hostile Agricultural Environment A.R. Hirakawa, A.M. Saraiva, C.E. Cugnasca Agricultural Automation Laboratory, Computer Engineering Department Polytechnic School,

More information

Distributed Vision System: A Perceptual Information Infrastructure for Robot Navigation

Distributed Vision System: A Perceptual Information Infrastructure for Robot Navigation Distributed Vision System: A Perceptual Information Infrastructure for Robot Navigation Hiroshi Ishiguro Department of Information Science, Kyoto University Sakyo-ku, Kyoto 606-01, Japan E-mail: ishiguro@kuis.kyoto-u.ac.jp

More information

VR/AR Concepts in Architecture And Available Tools

VR/AR Concepts in Architecture And Available Tools VR/AR Concepts in Architecture And Available Tools Peter Kán Interactive Media Systems Group Institute of Software Technology and Interactive Systems TU Wien Outline 1. What can you do with virtual reality

More information

Physics-Based Manipulation in Human Environments

Physics-Based Manipulation in Human Environments Vol. 31 No. 4, pp.353 357, 2013 353 Physics-Based Manipulation in Human Environments Mehmet R. Dogar Siddhartha S. Srinivasa The Robotics Institute, School of Computer Science, Carnegie Mellon University

More information

Autonomous Stair Climbing Algorithm for a Small Four-Tracked Robot

Autonomous Stair Climbing Algorithm for a Small Four-Tracked Robot Autonomous Stair Climbing Algorithm for a Small Four-Tracked Robot Quy-Hung Vu, Byeong-Sang Kim, Jae-Bok Song Korea University 1 Anam-dong, Seongbuk-gu, Seoul, Korea vuquyhungbk@yahoo.com, lovidia@korea.ac.kr,

More information

Information for Parents/Carers Targets in Computing

Information for Parents/Carers Targets in Computing Computing Targets - A Year 1 Computer User I can create a series of instructions. I can plan a journey for a programmable toy. I can create digital content. I can store digital content. I can retrieve

More information

Intelligent Robotic Systems!! CS 685!! Jana Kosecka, 4444 Research II! ! Office hours Tue 2-3pm!

Intelligent Robotic Systems!! CS 685!! Jana Kosecka, 4444 Research II! ! Office hours Tue 2-3pm! Intelligent Robotic Systems!! CS 685!! Jana Kosecka, 4444 Research II! kosecka@gmu.edu, 3-1876! Office hours Tue 2-3pm! Logistics! Grading: Homeworks + Project 65% Exam: 35%! Prerequisites: basic statistical

More information

Dr. Ashish Dutta. Professor, Dept. of Mechanical Engineering Indian Institute of Technology Kanpur, INDIA

Dr. Ashish Dutta. Professor, Dept. of Mechanical Engineering Indian Institute of Technology Kanpur, INDIA Introduction: History of Robotics - past, present and future Dr. Ashish Dutta Professor, Dept. of Mechanical Engineering Indian Institute of Technology Kanpur, INDIA Origin of Automation: replacing human

More information

Motion Control of a Three Active Wheeled Mobile Robot and Collision-Free Human Following Navigation in Outdoor Environment

Motion Control of a Three Active Wheeled Mobile Robot and Collision-Free Human Following Navigation in Outdoor Environment Proceedings of the International MultiConference of Engineers and Computer Scientists 2016 Vol I,, March 16-18, 2016, Hong Kong Motion Control of a Three Active Wheeled Mobile Robot and Collision-Free

More information

CSCI 445 Laurent Itti. Group Robotics. Introduction to Robotics L. Itti & M. J. Mataric 1

CSCI 445 Laurent Itti. Group Robotics. Introduction to Robotics L. Itti & M. J. Mataric 1 Introduction to Robotics CSCI 445 Laurent Itti Group Robotics Introduction to Robotics L. Itti & M. J. Mataric 1 Today s Lecture Outline Defining group behavior Why group behavior is useful Why group behavior

More information

Prospective Teleautonomy For EOD Operations

Prospective Teleautonomy For EOD Operations Perception and task guidance Perceived world model & intent Prospective Teleautonomy For EOD Operations Prof. Seth Teller Electrical Engineering and Computer Science Department Computer Science and Artificial

More information

All theses offered at MERLIN (November 2017)

All theses offered at MERLIN (November 2017) All theses offered at MERLIN (November 2017) MSc theses at Politecnico di Milano Thesis with reviewer Thesis without reviewer ( tesina ) Expected effort 6 months full time 3 4 months full time Reviewer

More information

Chapter 2 Introduction to Haptics 2.1 Definition of Haptics

Chapter 2 Introduction to Haptics 2.1 Definition of Haptics Chapter 2 Introduction to Haptics 2.1 Definition of Haptics The word haptic originates from the Greek verb hapto to touch and therefore refers to the ability to touch and manipulate objects. The haptic

More information

H2020 RIA COMANOID H2020-RIA

H2020 RIA COMANOID H2020-RIA Ref. Ares(2016)2533586-01/06/2016 H2020 RIA COMANOID H2020-RIA-645097 Deliverable D4.1: Demonstrator specification report M6 D4.1 H2020-RIA-645097 COMANOID M6 Project acronym: Project full title: COMANOID

More information

Developing Frogger Player Intelligence Using NEAT and a Score Driven Fitness Function

Developing Frogger Player Intelligence Using NEAT and a Score Driven Fitness Function Developing Frogger Player Intelligence Using NEAT and a Score Driven Fitness Function Davis Ancona and Jake Weiner Abstract In this report, we examine the plausibility of implementing a NEAT-based solution

More information

An Autonomous Self- Propelled Robot Designed for Obstacle Avoidance and Fire Fighting

An Autonomous Self- Propelled Robot Designed for Obstacle Avoidance and Fire Fighting An Autonomous Self- Propelled Robot Designed for Obstacle Avoidance and Fire Fighting K. Prathyusha Assistant professor, Department of ECE, NRI Institute of Technology, Agiripalli Mandal, Krishna District,

More information

Robotics. Lecturer: Dr. Saeed Shiry Ghidary

Robotics. Lecturer: Dr. Saeed Shiry Ghidary Robotics Lecturer: Dr. Saeed Shiry Ghidary Email: autrobotics@yahoo.com Outline of Course We will study fundamental algorithms for robotics with: Introduction to industrial robots and Particular emphasis

More information

Game Design 1. Unit 1: Games and Gameplay. Learning Objectives. After studying this unit, you will be able to:

Game Design 1. Unit 1: Games and Gameplay. Learning Objectives. After studying this unit, you will be able to: Game Design 1 Are you a gamer? Do you enjoy playing video games or coding? Does the idea of creating and designing your own virtual world excite you? If so, this is the course for you! When it comes to

More information

Robot Task-Level Programming Language and Simulation

Robot Task-Level Programming Language and Simulation Robot Task-Level Programming Language and Simulation M. Samaka Abstract This paper presents the development of a software application for Off-line robot task programming and simulation. Such application

More information

Autonomous Mobile Robots

Autonomous Mobile Robots Autonomous Mobile Robots The three key questions in Mobile Robotics Where am I? Where am I going? How do I get there?? To answer these questions the robot has to have a model of the environment (given

More information

Chapter 1. Robot and Robotics PP

Chapter 1. Robot and Robotics PP Chapter 1 Robot and Robotics PP. 01-19 Modeling and Stability of Robotic Motions 2 1.1 Introduction A Czech writer, Karel Capek, had first time used word ROBOT in his fictional automata 1921 R.U.R (Rossum

More information

4/1/2011. Ken Goldberg UC Berkeley. Robot

4/1/2011. Ken Goldberg UC Berkeley. Robot The World of Robots history Ken Goldberg UC Berkeley 2 history Robot Karel Capek, R.U.R. (1923) 3 1 Two Classes of Robots Industrial robot : Reprogrammable, multi-function manipulator with 3 or more axes.

More information

Snake Robots. From Biology - Through University - Towards Industry I. Kristin Y. Pettersen

Snake Robots. From Biology - Through University - Towards Industry I. Kristin Y. Pettersen Snake Robots From Biology - Through University - Towards Industry I Kristin Y. Pettersen Centre for Autonomous Marine Operations and Systems (NTNU AMOS), Department of Engineering Cybernetics, Norwegian

More information

Revised and extended. Accompanies this course pages heavier Perception treated more thoroughly. 1 - Introduction

Revised and extended. Accompanies this course pages heavier Perception treated more thoroughly. 1 - Introduction Topics to be Covered Coordinate frames and representations. Use of homogeneous transformations in robotics. Specification of position and orientation Manipulator forward and inverse kinematics Mobile Robots:

More information

Introduction to Robotics

Introduction to Robotics Autonomous Mobile Robots, Chapter Introduction to Robotics CSc 8400 Fall 2005 Simon Parsons Brooklyn College Autonomous Mobile Robots, Chapter Textbook (slides taken from those provided by Siegwart and

More information

Computer Assisted Medical Interventions

Computer Assisted Medical Interventions Outline Computer Assisted Medical Interventions Force control, collaborative manipulation and telemanipulation Bernard BAYLE Joint course University of Strasbourg, University of Houston, Telecom Paris

More information

Introduction to Robotics

Introduction to Robotics Introduction to Robotics CSc 8400 Fall 2005 Simon Parsons Brooklyn College Textbook (slides taken from those provided by Siegwart and Nourbakhsh with a (few) additions) Intelligent Robotics and Autonomous

More information

Craig Barnes. Previous Work. Introduction. Tools for Programming Agents

Craig Barnes. Previous Work. Introduction. Tools for Programming Agents From: AAAI Technical Report SS-00-04. Compilation copyright 2000, AAAI (www.aaai.org). All rights reserved. Visual Programming Agents for Virtual Environments Craig Barnes Electronic Visualization Lab

More information

Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery

Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery Claudio Pacchierotti Domenico Prattichizzo Katherine J. Kuchenbecker Motivation Despite its expected clinical

More information

Kid-Size Humanoid Soccer Robot Design by TKU Team

Kid-Size Humanoid Soccer Robot Design by TKU Team Kid-Size Humanoid Soccer Robot Design by TKU Team Ching-Chang Wong, Kai-Hsiang Huang, Yueh-Yang Hu, and Hsiang-Min Chan Department of Electrical Engineering, Tamkang University Tamsui, Taipei, Taiwan E-mail:

More information

Introduction to Robotics

Introduction to Robotics - Lecture 13 Jianwei Zhang, Lasse Einig [zhang, einig]@informatik.uni-hamburg.de University of Hamburg Faculty of Mathematics, Informatics and Natural Sciences Technical Aspects of Multimodal Systems July

More information

Theme 2: The new paradigm in robotics safety

Theme 2: The new paradigm in robotics safety Competitiveness in Emerging Robot Technologies (CEROBOT) The opportunities in safety and robots for SMEs Theme 2: The new paradigm in robotics safety Colin Blackman Simon Forge SCF Associates Ltd Safety

More information

A User Friendly Software Framework for Mobile Robot Control

A User Friendly Software Framework for Mobile Robot Control A User Friendly Software Framework for Mobile Robot Control Jesse Riddle, Ryan Hughes, Nathaniel Biefeld, and Suranga Hettiarachchi Computer Science Department, Indiana University Southeast New Albany,

More information

On Application of Virtual Fixtures as an Aid for Telemanipulation and Training

On Application of Virtual Fixtures as an Aid for Telemanipulation and Training On Application of Virtual Fixtures as an Aid for Telemanipulation and Training Shahram Payandeh and Zoran Stanisic Experimental Robotics Laboratory (ERL) School of Engineering Science Simon Fraser University

More information

Online Replanning for Reactive Robot Motion: Practical Aspects

Online Replanning for Reactive Robot Motion: Practical Aspects Online Replanning for Reactive Robot Motion: Practical Aspects Eiichi Yoshida, Kazuhito Yokoi and Pierre Gergondet. Abstract We address practical issues to develop reactive motion planning method capable

More information

A simple embedded stereoscopic vision system for an autonomous rover

A simple embedded stereoscopic vision system for an autonomous rover In Proceedings of the 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation 'ASTRA 2004' ESTEC, Noordwijk, The Netherlands, November 2-4, 2004 A simple embedded stereoscopic vision

More information

Slides that go with the book

Slides that go with the book Autonomous Mobile Robots, Chapter Autonomous Mobile Robots, Chapter Autonomous Mobile Robots The three key questions in Mobile Robotics Where am I? Where am I going? How do I get there?? Slides that go

More information

Summer Engineering Research Internship for US Students (SERIUS) Department of Biomedical Engineering. (www.bioeng.nus.edu.

Summer Engineering Research Internship for US Students (SERIUS) Department of Biomedical Engineering. (www.bioeng.nus.edu. Summer Engineering Research Internship for US Students (SERIUS) Host Department: Department of Biomedical Engineering (www.bioeng.nus.edu.sg) BME Project 1 Host department Department of Biomedical Engineering

More information

Introduction to Robotics in CIM Systems

Introduction to Robotics in CIM Systems Introduction to Robotics in CIM Systems Fifth Edition James A. Rehg The Pennsylvania State University Altoona, Pennsylvania Prentice Hall Upper Saddle River, New Jersey Columbus, Ohio Contents Introduction

More information

Artificial Neural Network based Mobile Robot Navigation

Artificial Neural Network based Mobile Robot Navigation Artificial Neural Network based Mobile Robot Navigation István Engedy Budapest University of Technology and Economics, Department of Measurement and Information Systems, Magyar tudósok körútja 2. H-1117,

More information

Obstacle Avoidance in Collective Robotic Search Using Particle Swarm Optimization

Obstacle Avoidance in Collective Robotic Search Using Particle Swarm Optimization Avoidance in Collective Robotic Search Using Particle Swarm Optimization Lisa L. Smith, Student Member, IEEE, Ganesh K. Venayagamoorthy, Senior Member, IEEE, Phillip G. Holloway Real-Time Power and Intelligent

More information

Dave Wilson Director of Academic Programs National Instruments

Dave Wilson Director of Academic Programs National Instruments Dave Wilson Director of Academic Programs National Instruments Steps in the Technology Design Process Dave Wilson Director of Academic, Training and Certification Programs National Instruments Corporation

More information