15-494/694 Cognitive Robotics: Spring 2015
Course Details
- Monday/Wednesday lecture: 3:30 pm to 4:20 pm in GHC 4211
- Friday lab: 3:00 pm to 4:20 pm in NSH 3206 (Robotics Education Lab)
Agenda
- Monday 1/12: Introduction
Homework: Read the "big idea" paper that is the subject of Wednesday's lecture.
- Wednesday 1/14: Robotics
for Computer Scientists: What's the Big Idea?
Overview of Calliope2SP. Overview of Kodu.
- Friday 1/16: Lab 1: Calliope2SP and Tekkotsu familiarization
- Monday 1/19: Martin Luther King Holiday. No class.
- Wednesday 1/21: read Rule-Based Programming and The Future of
Robotic Toys before class, and come prepared to discuss it.
Lecture: State Machines
- Friday 1/23: Lab 2: State machines including a homework assignment.
- Monday 1/26: Dual-coding representations and the MapBuilder
Discussion: robot toy tasks.
- Wednesday, 1/28: Local and world maps,
and state machine signaling.
- Friday, 1/30: Lab 3: Vision, including a homework assignment.
- Monday 2/2: Navigating with the Pilot
Mini-projects 1.
- Wednesday 2/4: Lecture: particle filters and localization.
- Friday 2/6: Lab 4: navigation and localization, including a homework assignment.
RI seminar: Jan
Peters: Motor Skill Learning: From Simple Skills to Table Tennis and
Manipulation
- Monday 2/9: Lecture: Shape predicates
and sketches
Read: How
qualitative spatial reasoning can improve strategy game AIs, by
Forbus, Mahoney, & Dill (2001).
- Wednesday 2/11: Lecture: Ullman's "visual routines"
Read: S. Ullman (1984)
Visual routines. Cognition 18:97-157.
- Friday 2/13: Lab 5: improving the particle filter, including a homework assignment.
RI seminar: Michael
Tarr: I would kill for a pigeon
- Monday, 2/16: Lecture: Behaviors and events.
- Wednesday, 2/18: Lecture: Path planning.
Read: RRT-Connect: an efficient approach to single-query path planning,
J. J. Kuffner, Jr., and S. M. LaValle, ICRA, 2000.
Animation: RRT Tree Growth Animation
Video: Tekkotsu hand/eye system path planning by Glenn Nickens
- Friday, 2/20: No formal lab today (Dave out of town). Work on mini-projects.
- Monday, 2/23: Read: Introduction
to homogenous transformations and robot kinematics, by Jennifer Kay.
Video: Denavit-Hartenberg Reference Frame Layout
Lecture: Kinematics
- Wednesday, 2/25: Lecture: Continuation of Monday's lecture;
same slides.
Video: Towers of Hanoi by
Evan Patton and Michel Brudzinski (uses motion sequences)
Video: Tentacle IK and path planning by
Jonathan Coens
- Friday, 2/27: Lab 6: kinematics, including a homework assignment.
- Monday, 3/2: Lecture: Object recognition
Blog on SIFT for soda can detection: eycanseecan.blogspot.com and a
video.
Video: SIFT in Tekkotsu
- Wednesday, 3/4: Lecture: Kodu programming
- Friday, 3/6: Mid-Semester Break. No class.
- Monday 3/9 and Wednesday 3/11: Spring Break. No class.
- Monday, 3/16: Lecture: Manipulation with friction
Software: PID Simulation spreadsheet in Excel
- Wednesday, 3/18: Tekkotsu Kodu installation
Inter-Robot Communication:
- Monday 3/23: Kodu internals
- Wednesday 3/25: project work
- Friday 3/27: project work
- Monday 3/30: project work
- Wednesday, 4/1: The Tekkotsu vision pipeline
- Friday, 4/3: project work
Resources
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