|
15-494 Cognitive Robotics Spring 2006 |
|
|
|
15-494 Cognitive Robotics Spring 2006 |
|
| Week 1 | |
| Wed 1/18 |
Lecture: Course intro;
AIBO overview;
C++ for Java programmers Read: C++ review |
| Fri 1/20 |
Read: tutorial section on
Robot safety Lab 1: Teleoperation with ControllerGUI; compiling Tekkotsu behaviors |
| Week 2 | |
| Mon 1/23 |
Read tutorial sections:
Introduction,
Documentation,
Behaviors,
Events Lecture: Tekkotsu behaviors and events |
| Wed 1/25 |
Read: tutorial section on
Motion commands Read: documentation for MotionManager, MotionCommand, MMAccessor, LedEngine Lecture: Motion commands and real-time programming |
| Fri 1/27 | Lab 2/Homework 2: Programming with motion commands |
| Week 3 | |
| Mon 1/30 | Lecture: Tekkotsu vision pipeline; color image segmentation Read: overview of the Vision Pipeline Read: tutorial section on color image segmentation and EasyTrain Homework 2: Color segmentation with EasyTrain (due by Friday, 2/3/06) |
| Wed 2/01 | Read: S. Ullman (1984)
Visual routines. Cognition 18:97-157. Lecture: Ullman's visual routines; Sketches in Tekkotsu |
| Fri 2/03 |
Read: tutorial sections on
VisualRoutinesBehavior,
Sketch primitives,
Tekkotsu simulator Lab 3/Homework 3: Tekkotsu simulator; programming with Sketches |
| Week 4 | |
| Mon 2/06 |
Read: MIT Encyclopedia of Cognitive Science articles on
Mental Representation
and Imagery (both mention Paivio's dual coding theory) Read: tutorial section on Shape primitives Lecture: Shape representations |
| Wed 2/08 |
Read: How qualitative spatial reasoning can improve strategy game AIs, by Forbus, Mahoney, and Dill. Read: tutorial section on Shape predicates Lecture: Shape predicates; Tekkotsu's local map builder |
| Fri 2/10 | Lab 4: Map building and visual search |
| Week 5 | |
| Mon 2/13 |
Read: tutorial section on
State machines Lecture: State machine formalism Homework 4: Parsing the tic-tac-toe board |
| Wed 2/15 | Lecture: Architectures for robot control |
| Fri 2/17 |
Read: tutorial chapter on
The Storyboard Toool Lab 5: Storyboard tool |
| Week 6 | |
| Mon 2/20 | Lecture: World maps and localization |
| Wed 2/22 | Read: tutorial chapter on
Walking Lecture: Navigating with the Pilot |
| Fri 2/24 | Lab 6: Knock down a soda can |
| Week 7 | |
| Mon 2/27 | Lecture: Object recognition |
| Wed 3/01 | Leture: Gestalt perception |
| Fri 3/03 | Lab: Gestalt perception exercise |
| Week 8 | |
| Mon 3/06 | Read:
B. Kuipers (2005) Drinking from the firehose of experience. Lecture: Consciousness and groundedness |
| Wed 3/08 | Midterm exam |
| Fri 3/10 |
mid-semester break |
| Week 9 | |
| Mon 3/13 |
Spring Break |
| Wed 3/15 |
Spring Break |
| Fri 3/17 |
Spring Break |
| Week 10 | |
| Mon 3/20 | Class moves to Wean Hall 5320 Read: tutorial chapter on Postures and Motion Sequences Lecture: Postures and motion sequences |
| Wed 3/22 | Read: tutorial chapter on Forward kinematics Lecture: Body representation and the kinematics engine |
| Fri 3/24 | Lab: Kinematics lab |
| Week 11 | |
| Mon 3/27 | Lecture: Affordances |
| Wed 3/29 | Lecture: Human-robot interaction |
| Fri 3/31 | Lab: LookingGlass tool |
| Week 12 | |
| Mon 4/03 | Lecture: Manipulation by pushing |
| Wed 4/05 | Lecture: Manipulation with friction Handout: PID Control Simulation - Excel Spreadsheet |
| Fri 4/07 | Lab: Manipulation exercise |
| Week 13 | |
| Mon 4/10 | Lecture: Robot learning |
| Wed 4/12 | Special lab meeting: project prototyping experiments |
| Fri 4/14 | project clinic |
| Week 14 | |
| Mon 4/17 | project clinic |
| Wed 4/18 | project clinic |
| Fri 4/21 |
Spring Carnival |
| Week 15 | |
| Mon 4/24 | project clinic |
| Wed 4/26 | project clinic |
| Fri 4/28 | project clinic |
| Week 16 | |
| Mon 5/1 | Project presentations/critiques |
| Wed 5/3 | Project presentations/critiques |
| Fri 5/5 |
Public demo of class projects |