15-494/694 Cognitive Robotics: Spring 2016
Course Details
- Monday/Wednesday lecture: 3:30 pm to 4:20 pm in WEH 5310
- Friday lab: 3:00 pm to 4:20 pm in NSH 3206 (Robotics Education Lab)
- Piazza page for announcements and discussion.
Agenda
- Monday 1/11: Introduction
Videos: Chiara piano, Chiara chess
Homework: Read Robotics
for Computer Scientists: What's the Big Idea?. Prepare a 3 minute
presentation (1-3 slides) on one of the big ideas in Wednesday's class.
- Wednesday 1/13: student presentations of big ideas. Overview of
Calliope2SP and Calliope3. Overview of Kodu.
- Friday 1/15: Lab 1: Calliope2SP and Tekkotsu familiarization
- Monday 1/18: Martin Luther King Holiday. No class.
Homework: read Rule-Based Programming and
The Future of Robotic Toys (remove the -XXX from the URL) and be prepared to discuss it on Wednesday.
- Wednesday 1/20: Discussion of the Rule-Based Programming paper.
Lecture: State Machines
- Friday 1/23: Lab 2: State machines including a homework assignment.
- Monday 1/25: Lecture: Behaviors and events.
Read: Tekkotsu and Software Engineering
- Wednesday 1/27: Lecture: The Tekkotsu vision pipeline.
Homework: Enhancements to SpeechNode class.
- Friday 1/27: Lab 3: color image segmentation and initial robot construction.
- Monday 2/1: Lecture: Dual-coding representations
- Wednesday 2/3: Lecture: Local maps, and
Advanced state machine signaling
Homework: Enhancements to EventTrans and Point classes.
- Friday 2/5: Lab 4: The MapBuilder, and more Calliope3 assembly.
- Monday, 2/8: Reading: S. Ullman (1984) Visual Routines. Cognition 18:97-157.
Lecture: Ullman's theory of visual routines
- Wednesday, 2/10: Lecture: Shape predicates.
Reading: Forbus,
Mahoney, and Dill (2001) How qualitative spatial reasoning can improve
strategy game AIs.
- Friday, 2/12: Lab: Calliope3 arm assembly.
- Monday, 2/15: Lecture: Sketches,
and the Pilot.
- Wednesday, 2/17: Lecture: Particle filters.
Video: Visual Odometry in Tekkotsu by Josh Belanich.
- Friday, 2/19: Lab 5: Navigating with the Pilot.
- Monday, 2/22: 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
- Wednesday, 2/24: Read: Introduction to homogenous
transformations and robot kinematics, by Jennifer Kay.
Video: Denavit-Hartenberg Reference Frame Layout
Lecture: Kinematics, part 1.
- Friday, 2/26: Lab 6: Path planning with RRTS, and more robot assembly.
- Monday, 2/29: Lecture: Kinematics, part 2 (same slides).
Video: Towers of Hanoi by Evan Patton and Michel Brudzinski (uses motion sequences)
Video: Tentacle IK and path planning by Jonathan Coens
- Wednesday, 3/2: The Grasper, and
Architectures for Robot Control
- Friday, 3/4: Mid-semester break. No lab.
- Monday, 3/14: Lecture: Postures and motion sequences.
Videos:
standlie,
pan_head,
headwag,
fallover,
Chiara Mantis
- Wednesday, 3/16: Lecture: Affordances.
- Friday, 3/18: Lab 7: Forward and inverse
kinematics, and more robot assembly.
- Monday, 3/21 (in lab): camera comparison; Chromebook setup; TicTacToe.cc.fsm
- Wednesday, 3/23 (in lab): Mirage tic-tac-toe-world tttcs.ian and tttcs.mirage; servo programming
- The remainder of the course is devoted to work on the final project.
Calliope3 Construction Teams
| Robot Name | Builder(s) |
| Huey | Elliot and Jeremy |
| Dewey | Aaron |
| Louie | Alberto |
| Stewey | Vivek |
| D'Artagnan | Ben |
Resources
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