COMP 150: Probabilistic Robotics for Human-Robot Interaction - - PowerPoint PPT Presentation

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COMP 150: Probabilistic Robotics for Human-Robot Interaction - - PowerPoint PPT Presentation

Nov 22, 2022 279 likes •794 views

COMP 150: Probabilistic Robotics for Human-Robot Interaction Instructor: Jivko Sinapov www.cs.tufts.edu/~jsinapov Introduction Welcome! Who am I? Who are you? A brief history of robotics Syllabus The course website IS the

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COMP 150: Probabilistic Robotics for Human-Robot Interaction

Instructor: Jivko Sinapov www.cs.tufts.edu/~jsinapov

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Introduction

  • Welcome!
  • Who am I?
  • Who are you?
  • A brief history of robotics
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Syllabus

  • The course website IS the syllabus:

https://www.eecs.tufts.edu/~jsinapov/teaching /comp150_PR/

  • Read the website before Tuesday, there will be

Q & A session to address any questions you may have

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Who am I?

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Who are you?

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Reading Assignment

  • Chapters 1 and 2 of “Probabilistic Robotics”
  • Next week, we start with Kalman filters

(Chapter 3 of PR)

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What is ROS?

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What is ROS?

“ROS (Robot Operating System) provides libraries and tools to help software developers create robot applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more. ROS is licensed under an open source, BSD license.”

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First Steps in ROS

  • Tutorials:

– http://wiki.ros.org/ROS/Tutorials

  • Turtlesim:

– http://wiki.ros.org/turtlesim

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Turtlesim + Kinect

[https://www.youtube.com/watch?v=E9TJ0c8ufzM]

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ROS workshops

  • In 2 weeks, there will be several turtlebot

training sessions

  • Look for sign-up sheet on canvas
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A Brief History of Robotics

First introduced in the play R.U.R. (Rossum's Universal Robots) which

  • pened in Prague in

January 1921. The word ‘robot’ is derived from the Czech word for forced labor or serf.

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Early Depiction of Robots in Movies

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What is a robot?

(class discussion)

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Definition

“re-programmable, multi-functional, manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks” – Robotics Industry Association (RIA)

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A Brief Timeline

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Mechanical Duck

[Jacques de Vaucanson (1709-1782) ]

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Radio-Controlled Submarine

[Nikola Tesla, 1898 (patent #613809) ]

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Walter's Turtle

[Grey Walter, 1948-49]

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Walter's Turtle

[BBC Report ~1949]

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The “Beast”

[John Hopkins University Applied Physics Lab]

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First Industrial Robot

First Industrial Robot (~60s)

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The Stanford Cart

[Stanford University, 1970]

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Shakey

[Stanford Research Institute, 1970]

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Video

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Genghis

[Rodney Brooks, MIT, 1989]

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Sojourner

[NASA, 1997]

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Minerva (late 90s)

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Honda's Humanoids

1986 2011 [Honda, 1986-2011]

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Honda's Humanoids

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Toyota's Attempt 20 years later...

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Toyota's Attempt 20 years later...

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Sony's Robot Dog

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Androids

[Honda, 1986-2011]

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Geminoid Summit

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The Uncanny Valley

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The Uncanny Valley

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Where are we now?

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Where are we now?

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Next time...

  • Sensor and Motion Models
  • Kalman Filters for tracking
  • ...