Robotics

Objective

The objective of this course is to introduce the students to fundamental theory related to modeling, applications and programming of fixed manipulators and mobile robots.

Methodology

Presentation of mathematical theory with;

• presentation slides;
• practice classes in the Robotics lab, and;
• development of projects aimed at solving specific tasks.

Grading

The grades are comprised by the following activities. Homework (HW), practical exam (PE) and project (P). The total amount corresponds to one grade per two months.

HW (30%) + PE (35%) + PJ (35%) = AB (100%).

Topics

1. Introduction.
2. Spatial description and transforms.
3. Direct kinematics.
4. Inverse kinematics.
5. Jacobians: Velocities and static forces.
6. Locomotion.
7. Mobile kinematics.
8. Perception.
9. Localization.

Links

RSS feeds

• RSS - IEEE Spectrum Robotics.

Tools

• MoveIt.
• ROS.
• Gazebo.
• V-REP.

Tutorials

• LiDAR.

Institutions

• Boston Dynamics.
• Carnegie Mellon University - The Robotics Institute.
• KUKA.
• Robots.nu.
• First Robotics Canada.

Recommended reading

• SELECTION OF ROBOTICS NEWS.
• Latest Version of Gazebo Simulator Makes It Easier Than Ever to Not Build a Robot.
• This Robot Can Solve a Rubik's Cube in One Second.
• At Davos, World Leaders Get Real About Killer Robots.
• Apple acquisition of UC San Diego startup paves way for further robotics research.
• Lego Robot With a Smartphone Brain Shatters Rubik's Cube World Record VIDEO.
• U.S. Proposes Spending $4 Billion on Self-Driving Cars.
• A toy Star Wars robot controlled by ‘The Force’.
• The Open Hand Project. VIDEO.
• Industry 4.0.
• Fourth industrial revolution set to benefit richest, UBS report says.
• Your Job Might Be One of 5 Million Replaced By Robots By 2020.
• British teenager creates robot lawyer to help people with their legal queries.
• MIT algorithms teach robot arms to think outside of the box (video).
• NASA wants your ideas for its cube robot's arm.
• Toshiba built a giant robot to help clean up Fukushima’s dangerous nuclear reactors.
• Completely paralyzed man steps out in robotic exoskeleton.
• This Tiny Robot Team Could Help Stop the No. 1 Killer in America.
• We'll Be Able to Grow Fresh Body Parts From Cartilage By 2019.
• FIRST STRONGHOLD Game Reveal.
• 6 Robotics Sights to See at CES 2016.

References

• Craig, John J.. "ROBÓTICA". 3ª Edição. Pearson.
• Siegwart, R. Nourbakhsh, I. R. Introduction to Autonomous Mobile Robots. MIT Ptess, 2004.