COMS W4733

Class______________	Notes___________________________________________	Assignment for next class______________
Class 1: Sep. 3	Course Overview The Boss is Robotic, New York Times Sep. 6, 2010 Test Drive of an Interactive Robot, New York TImes, Sep. 6, 2010. Sony QRIO video Willow Garage PR2 Robot Videos Robots will Invade our Lives!, Rod Brooks, TED talk 2009 Baxter Robot DARPA ARM-S Robot Darpa Grand Challenge video	Reading Assignment: Siegwart et. al. textbook, chapter 1 and 2 Choose a partner to share your iRobot Create robot with
Class 2: Sep. 5	Intro to Autonomous Robots GE Quadruped Big Dog Walking Robot	Read iRobot Owners' Guide and Open Interface Specifications Matlab simulator info and documentation. Download from Sourceforge Matlab Toolbox for iRobot Create (MTIC) that allow you to communicate with the physical robot.
Class 3: Sep. 10	Cool Robot of the Day! Overview of programming the Create Robot	Reading Assignment: Read Chapter 2, "Bug Algorithms", of Principles of Robot Motion by Choset, Lynch, Hutchinson, Kantor, Burgard, Kravaki and Thrun
Class 4: Sep. 12	iRobot Create FridgeMate Bug Algorithm Slides Sharp IR range sensor used on mobile robots IR Beam Distance Detection	Reading Assignment: Chapter 3 of Siegwart et.a l.
Class 5: Sep. 17	Range Sensors Differential Drive Robot kinematics Kiva Factory Robots video Micrososft Kinect Range Camera	Read Chapter 2, Representing Position and Orientation (p. 15-41) in Robotics, Vision and Control, Fundamental Algorithms in MATLAB by Peter Corke (available through Columbia University SpringerLink). You can download the accompanying Robotics Toolbox for Matlab which has a set of functions for analyzing and displaying robotic arms.
Class 6: Sep. 19	Kinematic Frames, Rotation, Translation Galileo Hybrid Tracked Robot	Reading Assignment: Read Chapter 2, "Rigid Motions and Homogeneous Transforms" (Handout emailed to class members)
Class 7: Sep. 24	Composite Rotations
Class 8: Sep. 26	Frame Equations and Transform Graphs Two Link Manipulator Kinematics Bionic Arm Neuro Control of Robotic Arm	Read Chapter 7, Robot Arm Kinematics (p.137-170) in Robotics, Vision and Control, Fundamental Algorithms in MATLAB by Peter Corke (available through Columbia University SpringerLink). You can download the accompanying Robotics Toolbox for Matlab which has a set of functions for analyzing and displaying robotic arms. Read Chapter 3 in emailed class handout on Forward and Inverse Kinematics
Class 9: Oct. 1	Forward Kinematics Ghostrider Robotic Motorcycle Ghostrider Crash	Read Chapter 3 in class handout on Forward and Inverse Kinematics
Class 10: Oct. 3	Continue with Forward Kinematics	Read Chapter 3 in class handout on Forward and Inverse Kinematics
Class 11: Oct. 8	Forward Kinematics II Matlab Progam to sample Forward Kinematics on Stanford Arm HRP Humanoid Robot Humaniod Robot Frame Diagram	Read Chapter 3 in class handout on Forward and Inverse Kinematics
Class 12: Oct. 10	Robot of the Year Bizarre Japanese Fighting Robots video Inverse Kinematics I	Read Chapter 3 in class handout on Forward and Inverse Kinematics
Class 13: Oct. 15	Inverse Kinematics II Kinematic Singularities and Jacobians	Read Chapter 5, Mobile Robot Localization, in Siegwart et. al. textbook,
Class 14: Oct. 17	Mobile Robot Localization UMBmark: A Benchmark Test for Measuring Odometry Errors in Mobile Robots by Johann Borenstein and Liqiang Feng	Read Map Learning and High Speed Navigation in RHINO by S. Thrun et. al.
Class 15: Oct. 22	Map Making Topological Localization for Mobile Robots by Paul Blaer and Peter Allen slides for fast vision method
Class 16: Oct. 24	Midterm Exam: Closed book, notes. Will cover material through inverse kinematics and Jacobians.	Reading assignment: An algorithm for planning collision-free paths among polyhedral obstacles, T. Lozano-Perez and M. Wesley, Communications of the ACM, October 1979
Class 17: Oct. 29	VGRAPH Path Planning Using Grown Obstacles	Chapter 6, sections 6.1 - 6.4 of Siegwart text A Simple Motion Planning Algorithm for General Robot Manuipulators, T. Lozano-Perez, IEEE Journal of Robotics and Automation, June 1987;
Class 18: Oct. 31	Configuration Space Path Planning	Reading Assignment: Randomized Motion Planning by Stefano Carpin Rapidly-exploring Random Trees by S. LaValle and J. Kuffner
Class 19: Nov. 7	Probabilistic Path Planning RRT animations Humanod Path Planning	Reading Assignment: Chapter 4, sec. 4.2 - 4.5, Perception, Siegwart text
Class 20: Nov. 12	Robotic Vision Overview Perception-Vision Notes	Reading Assignment: Rest of Chapter 4, Perception, Siegwart text
Class 21: Nov. 14	Voronoi Path Planning Potential Field Path Planning Stereo Robotic Vision	Prepare for RoboRace 2011
Class 22: Nov. 19	Robo Race 2011, Davis Auditorium, CEPSR Prizes awarded to team's with most accurate and fastest times	Reading Assignment: Hand Posture Subspaces for Dexterous Robotic Grasping by Matei Ciocarlie and Peter K. Allen Video
Class 23: Nov. 21	Robotic Hands and Grasping	Robo Cup2011 Humanoid League Winners by Daniel D. Lee, Seung-Joon Yi, Stephen McGill, Yida Zhang, Sven Behnke, Marcell Missura, Hannes Schulz, Dennis Hong, Jeakweon Han, and Michael Hopkins
Class 24: Nov. 26	Humanoid Robots	Reading Assignment: Medical Robotics and Computer-Integrated Surgery, Russell H. Taylor, Arianna Menciassi, Gabor Fichtinger and Paolo Dario, Springer Handbook of Robotics, Springer, June, 2008. Insertable Stereoscopic 3D Surgical Imaging Device with Pan and Tilt, Tie Hu, Peter Allen, Nancy Hogle and Dennis Fowler, Proc. IEEE BioRob 2008
Class 25: Dec. 3	Notes on Medical Robotics In-vivo Surgical Robots	Study for Final Exam
Class 26: Dec. 5	Review for Final Exam