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May 14, 2023 6 likes •139 views

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

SLIDE 1

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

SLIDE 2

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

Who am I? Who are you? Reading Assignment

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

(Chapter 3 of PR)

SLIDE 3

Homework 0

Create and compile a ROS workspace
Tutorials 1.1.1 and 1.1.2 from:

http://wiki.ros.org/ROS/Tutorials

Option 1: setup an Ubuntu 16.04 virtual machine on your

computer and install ROS Kinetic on it

Option 2: use lab machines (228 A-B) - I have requested

card access for all of you

– There are 4 desktops and 6 laptops available for use

Option 3: use cloud-based environment (see course website)

What is ROS? 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.”

First Steps in ROS

Tutorials:

– http://wiki.ros.org/ROS/Tutorials

Turtlesim:

– http://wiki.ros.org/turtlesim

SLIDE 4

Turtlesim + Kinect

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

ROS workshops

I will host 2 ROS workshops next week
Look for sign-up sheet on canvas by end of day

Homework 0

Extra-credit: bring up turtlebot 3D gazebo

simulation:

http://wiki.ros.org/turtlebot_gazebo

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 What is a robot?

(class discussion)

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)

A Brief Timeline

SLIDE 6

Mechanical Duck

[Jacques de Vaucanson (1709-1782) ]

Radio-Controlled Submarine

[Nikola Tesla, 1898 (patent #613809) ]

Walter's Turtle

[Grey Walter, 1948-49]

Walter's Turtle

[BBC Report ~1949]

SLIDE 7

The “Beast”

[John Hopkins University Applied Physics Lab]

First Industrial Robot

First Industrial Robot (~60s)

The Stanford Cart

[Stanford University, 1970]

Shakey

[Stanford Research Institute, 1970]

SLIDE 8

Video Genghis

[Rodney Brooks, MIT, 1989]

Sojourner

[NASA, 1997]

Minerva (late 90s)

SLIDE 9

Honda's Humanoids

1986 2011 [Honda, 1986-2011]

Honda's Humanoids

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Toyota's Attempt 20 years later... Toyota's Attempt 20 years later... Sony's Robot Dog

SLIDE 11

Androids

[Honda, 1986-2011]

Geminoid Summit

SLIDE 12

The Uncanny Valley The Uncanny Valley

SLIDE 13

Next time...

Sensor and Motion Models
Kalman Filters for tracking
...