15-494 Cognitive Robotics
|Mon 1/16||Martin Luther King Day: no class.|
Goal: Understand what the course is about.
Lecture: Course intro
Videos: XOR demo, Two-Armed Bandit demo, Chiara chess, Chiara piano
Read: C++ for Java programmers, and Seven Big Ideas in Robotics and How To Teach Them
Goal: Learn how to run Tekkotsu and interact with the robot.
Read: tutorial on Robot safety
Lab 1: Teleoperation with ControllerGUI; Sensor Observer
Goal: Learn how robot behaviors are created.
Lecture: State machines
Read: Wiki pages on State machine shorthand, node class definitions, and defining new node classes
Goal: Understand the event-based architecture that underlies state machines.
Lecture: Behaviors and events
Read: Tekkotsu and software engineering
Goal: Learn how to run and visualize your own behaviors on the robot.
Read: Lab: The Storyboard Tool
Lab 2: Compiling and running code; event logger; Storyboard tool
Goal: Learn how to use the Pilot to move the robot through the world.
Lecture: Navigating with the Pilot
Read: Navigating with the Tekkotsu Pilot, by Watson & Touretzky (2011)
Optional/supplementary: Wiki pages on Lab: The Pilot and Odometry and Lab: The Pilot and Localization
Goal: Learn how to run a simulated robot in a virtual environment.
Lecture: The Mirage Simulation Environment
Read: Tekkotsu and software engineering
Goal: Practice using the Mirage simulator and making your own virtual worlds.
Read: Lab: Mirage and Virtual Worlds
Lab 3: Pilot navigation with Mirage; the Mirage WorldBuilder
Goal: Learn how robots see color, and the basics of robot vision.
Lecture: The Tekkotsu vision pipeline
Goal: Learn to use the MapBuilder to detect shapes in a camera image.
Lecture: Dual coding representations and the MapBuilder
Goal: Practice using the MapBuilder to solve robot vision problems.
Lab 4: The MapBuilder
Goals: Understand (1) robot-centered maps and world maps, and (2) ways for state nodes to communicate.
Lecture: Local and world maps, and Advanced state machine programming
Goals: Learn about (1) functors and applying tests to shapes, and (2) solving vision problems using sketches.
Lecture: Shape predicates, and Sketches
Read: How qualitative spatial reasoning can improve strategy game AIs, by Forbus, Mahoney, & Dill (2001).
|Fri 2/17||Lab 5: Local maps, and sketch operations|
Goal: make the robot execute pre-specified motion sequences.
Read: S. Ullman (1984) Visual routines. Cognition 18:97-157.
Lecture: Postures and motion sequences
Goal: examine some ideas in higher level vision.
Lecture: Visual routines
|Fri 2/24||Lab 6: Postures and motion sequences|
Goal: Learn how the robot's body is represented as a kinematic tree, and how to use forward kinematics
to calculate the positions of end-effectors.
Read: A gentle introduction to homogenous transformations and robot kinematics, by Jennifer Kay.
Video: Denavit-Hartenberg Reference Frame Layout
Goal: Learn to use inverse kinematics to precisely position the robot's limbs.
Lecture: Continuation of Monday's lecture; same slides.
Video: Tentacle IK and path planning by Jonathan Coens
|Fri 3/2||Lab 7: Forward and inverse kinematics|
|Mon 3/5||Midterm exam.|
Goal: Learn to use Rapidly-exploring Random Trees (RRTs) to plan a path from a start state to a goal state.
Lecture: Path planning
Read: RRT-Connect: an efficient approach to single-query path planning, J. J. Kuffner, Jr., and S. M. LaValle, ICRA, 2000.
Video: Tekkotsu hand/eye system path planning by Glenn Nickens
|Fri 3/9||Mid-Semester Break|
|Mon 3/12||Spring Break|
|Wed 3/14||Spring Break|
|Fri 3/16||Spring Break|
|Mon 3/19||Lecture: Particle filters|
|Wed 3/21||Lecture: Object recognition|
|Fri 3/23||Lab 8: Particle filter, and pushing objects|
|Mon 3/26||Mini-project: Cobots Task (meet in NSH 3206 from now on)|
|Wed 3/28||Mini-project: Cobots Task|
|Fri 3/30||Mini-project: Cobots Task|
|Mon 4/2||Mini-project: Cobots Task|
|Wed 4/4||Mini-project: Cobots Task|
|Fri 4/6||Mini-project: Cobots Task|
|Mon 4/9||Work on final projects.|
|Wed 4/11||Work on final projects.|
|Fri 4/13||Work on final projects.|
|Mon 4/16||Work on final projects.|
|Wed 4/18||Work on final projects.|
Spring Carnival: no classes.
National Robotics Week: public demos at the Robotics Institute.
|Mon 4/23||Work on final projects.|
|Wed 4/25||Work on final projects.|
|Fri 4/27||Work on final projects.|
|Mon 4/30||Practice and give feedback on project presentations.|
|Wed 5/2||Practice and give feedback on project presentations.|
|Fri 5/4||Public presentation of final projects.|