Department of Computer Science
College of Arts and Sciences
The University of North Carolina at Chapel Hill
Robotics: An Introduction
Robotics is the study of robot design, programming, and control.
Typically a robot is refered to as an agent that can be programmed to
perform a variety of tasks -- both with and without human intervention.
A robot is often manifested and realized by mechanical and electrical
components to carry out its actions in the physical world.
Robots frequently receive input from noisy sensors, consider geometric and
mechanical constraints, and operate in the physical world through imprecise
actuators. The design and analysis of robot algorithms and computational
elements, therefore, raises a unique combination of questions in computational
and differential geometry, algorithm design, control theory, mechanics,
computer science, and system engineering.
In this course, we will give an
overview on fundamental components of robotic systems, including the
sensing and actuation, control and modeling of motion and perception,
dynamics and kinematics, motion planning and manipulation of robots.
Students will learn about implementation of basic simulation programs
that produce interesting results and verify its correctness.
The goal of this class is to get students an appreciation of
computational methods and engineering issues for modeling robots.
We will discuss various considerations and tradeoffs used in designing
various methodologies (e.g. time, space, robustness, and generality).
This will include data structures, algorithms, computational methods,
simulation techniques, runtime complexity, system implementation
and integration, in the context of multi-disciplinary design. The lectures
will also cover some applications of robotics to the following areas:
Furthermore, scientists have discovered that designs in the natural world can
be successfully exploited to create engineered artifacts. Over the last several
years, robotists have come up with several new robot designs that are based
on biological entities. These new designs offer significant benefits over
the traditional robot designs. Thus, a central part of the course will
also cover the fundamentals and applications of biologically inspired
robots. If time allows, we will also examine recent development on
modular and reconfigurable robots, as well as simultaneous localization
and mapping (SLAM).
LECTURES AND APPROXIMATE SCHEDULE
Here is a list of TENTATIVE lecture topics (subject to
changes). Schedule and information on each topic (e.g. readings, web
pointers) will be added during the semester before each class.
ASSIGNMENTS AND PROJECTS
The class grade of each student is determined by
GEOMETRIC ALGORITHMS AND SOFTWARES AVAILABLE ON THE WEB:
Here are just some possible locations to find geometric software/libraries
and algorithmic toolkits you may need:
ADDITIONAL REFERENCE MATERIALS
Some Reference Books in Robotics:
Other Reference Books in Mechanics:
Other Reference Books in Numerical Methods:
Other Reference Books in Geometry:
Other Related Reference Books in Computer Animation:
For more information, contact
Ming C. Lin,
Personal use of this material is permitted. However, permission to
reprint/republish this material for advertising or promotional purposes
or for creating new collective works for resale or redistribution to servers or
lists, or to reuse any copyrighted component of this work in other works
must be obtained from the author.
This material is presented to ensure timely dissemination of scholarly
and technical work. Copyright and all rights therein are retained by authors or
by other copyright holders. All persons copying this information are
expected to adhere to the terms and constraints invoked by each author's
copyright. In most cases, these works may not be reposted without the
explicit permission of the copyright holder.