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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

  1. 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

  2. Syllabus Who am I? ● 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 are you? Reading Assignment ● Chapters 1 and 2 of “Probabilistic Robotics” ● Next week, we start with Kalman filters (Chapter 3 of PR)

  3. Homework 0 What is ROS? ● 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? First Steps in ROS ● Tutorials: “ROS (Robot Operating System) provides libraries and tools to help software developers – http://wiki.ros.org/ROS/Tutorials create robot applications . It provides ● Turtlesim: hardware abstraction, device drivers, – http://wiki.ros.org/turtlesim libraries, visualizers, message-passing, package management , and more . ROS is licensed under an open source , BSD license.”

  4. Turtlesim + Kinect ROS workshops ● I will host 2 ROS workshops next week ● Look for sign-up sheet on canvas by end of day [https://www.youtube.com/watch?v=E9TJ0c8ufzM] Homework 0 A Brief History of Robotics ● Extra-credit: bring up turtlebot 3D gazebo First introduced in the simulation: play R.U.R. (Rossum's Universal Robots) which opened in Prague in January 1921. The word ‘robot’ is derived from the Czech word for forced labor or serf. http://wiki.ros.org/turtlebot_gazebo

  5. Early Depiction of Robots in Movies What is a robot? (class discussion) Definition A Brief Timeline “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)

  6. Mechanical Duck Radio-Controlled Submarine [Nikola Tesla, 1898 (patent #613809) ] [Jacques de Vaucanson (1709-1782) ] Walter's Turtle Walter's Turtle [Grey Walter, 1948-49] [BBC Report ~1949]

  7. The “Beast” First Industrial Robot First Industrial Robot (~60s) [John Hopkins University Applied Physics Lab] The Stanford Cart Shakey [Stanford University, 1970] [Stanford Research Institute, 1970]

  8. Video Genghis [Rodney Brooks, MIT, 1989] Sojourner Minerva (late 90s) [NASA, 1997]

  9. Honda's Humanoids Honda's Humanoids 1986 2011 [Honda, 1986-2011]

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

  11. Androids [Honda, 1986-2011] Geminoid Summit

  12. The Uncanny Valley The Uncanny Valley

  13. Next time... ● Sensor and Motion Models ● Kalman Filters for tracking ● ...

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