BEHAVIORAL ROBOTICS READING.

  1. Probabilistic Robots.
  2. 000.Overview.ppt
  3. 002.ClassOVerviewGood.pdf
  4. 010.Mobile-Robots.ppt
  5. 011.Sensing-Perception-GOOD.pdf
  6. 013.Noise-Uncertainty-Issues-Autonomous-RobotsGOOD.pdf
  7. 020.Software-agents-for-mobile-robots.ppt
  8. 022.Mapping-with-landmarks.ppt
  9. 031.Collaborative-Robots-GOOD.pdf
  10. 032.Collaborative-Robotics-2-GOOD.pdf
  11. 034.Sensing-Perception-Representation-MultiRobot-GOOD.pdf
  12. Sensors their role new approaches to perception. In PPT format
  13. Introduction to HMM.
  14. Subsumption Theory.
  15. Examples of Subsumption.
  16. Reactive software.
  17. Behavioral.
  18. Resistive sensors.
  19. HMM in Robotics.
  20. Infrared sensors.
  21. Light Sensors.
  22. Various sensors.
  23. Lego Sensors for prototyping.
  24. Sonar.
  25. Cellular morphogenesis.
  26. Cellular 2.
  27. Cellular reversible
  28. Programmable Devices in Robotics. In PPT format Evolution of electronics technologies. Micro-Controllers and Single-Board Computers. Micro-Controller Board Examples. Basic Stamp examples. The Board of Education. PIC. Digital Signal Processors. Features and applications. DSP architectures. ROM. EPROM. PLD. EPLD. EEPLD. FPGAs. Xilinx. Altera. Volatile vs non-volatile. Our previous projects using these technologies.
  29. Robot Control Architectures. In PPT format. Please review sequential and combinational hardware design from ECE 271 class. Practical approaches to robotics based on digital design. Sensing. The concept of internal state and total state of the robot. Acting and behavior. Autonomy. Robot control architectures. Control trade-offs. Review of digital design (sometimes). Reactive Robot Systems. Reactive versus Deliberative robots. Hybrid Systems. Behavior-Based Systems. Feedback Control. Feedback and Cybernetics. Grey Walter's Tortoise as a prototype of modern mobile robots. Turtle world. Breitenberg vehicles again. Artificial Intelligence versus robotics in history. Early AI-based robots. Key issues in robotics vs AI. Ideas to think about, related to exams and projects.

  30. Programming Interfacing Basic Stamp. In PPT format. Examples of simple systems for Basic Stamp. LED interfacing. Use of breadboard. Basic Language commands. Basic sensing schemes. Buttons. RCTIME command and examples of its use. Elements of using Basic in robotics. Serial and Analog I/O. Interfacing an accelerometer. Interfacing to MIDI. MIDI programming in pBASIC.

  31. Modular Microcontroller Systems. In PPT format. Modules for microcontroller interfacing. Modular student projects. Mechanical and electrical design of modules. Examples of design.

  32. Examples of microcontroller projects. In PPT format. More practical examples of systems using Basic Stamp. Motor. RF Radio. MIDI and serial communication. Commercial robot kits. MICRO-mouse competition. Robot sculptures.

  33. Kinematics, inverse kinematics, manipulation. Introduction. In PPT format. Kinematics. Effectors and Actuators. DOF. Controllable DOF. Holonomic and redundant robots. Issues in manipulation. Teleoperation. Kinematics versus Inverse Kinematics. Links and joints. Introduction to homogeneous coordinates. Examples of direct kinematics. Dynamic simulators. Wheeled robot examples. Kinematics of differential drive. Kinematics of synchro drive. Inverse kinematics of mobile robots: example. Four Wheel steering. Ackerman steering. Holonomic and non-holonomic robots. Inverse kinematics of robot manipulators. Configuration space. Control. Navigation and motion planning. Vertical Strip Cell decomposition. Manipulation as a challenge and opportunity. Reaching and grasping. Project discussion. (not always).

  34. Hexapods for robot soccer. In PPT format. The perceptions of mobile robot. Visual perceptions. Variants of control structure. Classification of Robot Soccer Systems. Remote-Brainless Systems. Brain-on-board systems. Robot-based Systems. Main PC, communication. Problems to be solved in soccer robotics. Software. FIRA and ROBOCUP. Our robots and potential projects. Past project: hexapod for soccer.

  35. Walking robots design. In PPT format. Hexapod robots. Review of locomotion. Stability of standing and walking. Static stability. A Stable Hopping Leg. Hexapod and Insect walking. How to build your own hexapod: examples. Alternating Tripod Gait. Dynamic Stability. Recent research issues. Bipeds, wheels. Why choose legs? Following trajectories.

  36. Continuation on walking robots design. In PPT format. Walking machine technology. Examples of walking robots. Design of Rough Terrain Vehicle. Prototyping gear trains with Lego. Measuring Legged Locomotion. Power to walk. History of walking robots. Linkage fundamentals. Pivots and Cranks. Generating walking. Crank and Rocker mechanism. Rules for link length. Walking link crank and rocker. Examples of hexapods and bipeds. Hexapod kits from Lynxmotion company: all their electrical components. Examples of larger hexapods from universities and industry. Vision systems.

  37. Introduction to Stimulus Response Production Systems. In PPT format. Robot toys. Control architectures for hexapods. Past research on mobile robot controllers. Control problems for an autonomous robot. Perception and action. Stimulus Response Agents. Mapping perception into action. A robot in a two-dimensional grid. Examples of perception, action, and logic control. Reactive agents. Feature selection. Obelix Robot. Production systems. Representing and Implementing actions. Disscussion of issues for soccer robots. Teleo-reactive programs. Black-board architectures. Computer simulation of robots. Models of Braitenberg vehicles. Views of simulation. Events and discrete time. Visualization. Micro-Mouse competition. Algorithms. Behavior description and modeling. Automata, tables, functions, decision tables. State Transition Diagrams. State Transition Tables. State Transition charts. New models to describe concurrency. Categorizing robot architectures. Various taxonomies of robot architectures.

  38. Deliberative SPA. In PPT format. Planning and deliberative behaviors. Mind and Body in AI. Classical AI and its influence on robotics. Sense-Plan-Act paradigm. The control cycle in SPA. Examples in path generation, motion planning, navigation. Model-based architectures. Problems.