lecture1 - Robotics Lecture 1 Introduction to Robotics See...

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Robotics Lecture 1: Introduction to Robotics See course website http://www.doc.ic.ac.uk/ ~ ajd/Robotics/ for up to date information. Andrew Davison Stefan Leutenegger Department of Computing Imperial College London
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Lecture Plan Most weeks will consist of a 1 hour lecture (Tuesday 2pm, 144) and a compulsory practical session (Tuesday 3-4pm, 202 and Thursday 9-11am, 202) . There will some variations from week to week which will be fully detailed on the course website. In particular, this week there will be no practical, and instead a tutorial at 10am Thursday, 311. We will not use the 9am Thursday slot this week! 1. Introduction to Robotics 2. Robot Motion 3. Sensors 4. Probabilistic Robotics 5. Monte Carlo Localisation 6. Place Recognition and Occupancy Mapping 7. Simultaneous Localisation and Mapping 8. Review and Competition
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Robotics: An Inter-Disciplinary Field Robotics integrates science and engineering, and overlaps with many disciplines: Artificial Intelligence Computer Vision / Perception Machine Learning / Estimation / Inference Neuroscience Electronic / Mechanical Engineering In fact the differentiation between these fields is sometimes artificial. I recently heard someone (Greg Dudek) wonder whether robotics is the new physics? An umbrella science of the synthetic and interactive. . . In this course the emphasis will be largely pragmatic.
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What is a Robot? A physically-embodied, artificially intelligent device with sensing and actuation. It can sense . It can act . It must think , or process information, to connect sensing and action. Pixels to torques. . .
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What is a Robot? Is a washing machine a robot? Most people wouldn’t say so, but it does have sensing, actuation and processing. A possible distinction between appliance and robot (David Bisset): whether the workspace is physically inside or outside the device. The cognitive ability required of a robot is much higher: the outside world is complex, and harder to understand and control. What about a modern car? Or smartphone? Are they becoming robots?
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The Classical Robot Industry: Robot Arms The most widely-used robots today are industrial robot ‘arms’, mounted on fixed bases and used for instance in manufacturing. The task of a robot arm is to position an end-effector through which it interacts with its environment. Most operate in highly controlled environments.
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Robots for the Wider World They need perception which gives them a suitable level of understanding of their complex and changing surroundings.
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A Fully Autonomous Robot for the Home? There is a new wave of advanced mobile robots now aiming at much more flexible robots which can interact with the world in human-like ways. Over recent years this has again become the current goal of significant research teams; e.g. Willow Garage in the USA.
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