UNIVERSITY OF MINNESOTA
DEPARTMENT OF COMPUTER SCIENCE
5551
INTRODUCTION TO INTELLIGENT ROBOTIC SYSTEMS
FALL 2015
3 CREDITS
Class Schedule: Tuesday and Thursday 13:00-14:15, Keller Hall 3-115
Faculty: Professor Nikolaos Papanikolopoulos
Office: Keller Hall 5-201
Phone: 5-0163
E-Mail: npapas@cs.umn.edu
Office Hours: 11:45-12:45 Tuesday and Thursday, or by appointment
Teaching Assistant: William Beksi
E-Mail: beksi@cs.umn.edu
TA’s Office Hours: 13:00-14:00 Monday in Walter Library B18-C
Class URL: http://www-users.cselabs.umn.edu/classes/Fall-2015/csci5551/index.php
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Course Objective
The course objective is to introduce the students to the principles of robotics. In particular, the
course will start from simple problems in transformations, kinematics and inverse kinematics, dynamics, and control. Later in the semester, more complex problems in sensing, force control, mobile
robots, and robot programming will be discussed.
Upon successful completion of the course, the student must be able to:
• Understand the difficulties of robotics.
• Apply the principles of geometry to derive models for the forward and inverse kinematics of a
manipulator.
• Understand the dynamics of a manipulator.
• Implement several simple robot control laws.
• Appreciate the computational complexity of these algorithms.
• Understand the various sensing techniques.
• Understand the real-time control and programming issues.
• Understand the principles of operation for mobile robots.
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Topics Covered
The course will cover the following topics:
• Transformations.
• Kinematics.
• Inverse kinematics.
• Jacobians.
• Dynamics.
• Trajectory generation.
• Robot control.
• Force control.
• Sensing.
• Robot programming.
• Mobile robots.
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Textbook
[1] J. Craig, “Introduction to Robotics: Mechanics and Control”, Prentice Hall, Upper Saddle River,
NJ, 2004. The older edition can be used as well.
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Additional References (Not Required)
[1] H. Asada and J-J.E. Slotine, “Robot Analysis and Control”, John Wiley and Sons, New York,
NY, 1986.
[2] P. Corke, “Robotics, Vision and Control: Fundamental Algorithms in MATLAB / Edition 1”,
Springer, Berlin-Heidelberg, Germany, 2013.
[3] G. Dudek and M. Jenkin, “Computational Principles of Mobile Robotics”, Cambridge University
Press, 2000.
[4] K.S. Fu, R.C. Gonzalez, and C.S.G. Lee, “Robotics: Control, Sensing, Vision, and Intelligence”,
McGraw-Hill, New York, NY, 1987.
[5] R.M. Haralick and L.G. Shapiro, “Computer and Robot Vision”, Addison-Wesley, Reading, MA,
1992.
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[6] R. Hartley and A. Zisserman, “Multiple View Geometry in Computer Vision”, Cambridge University Press, 2003.
[7] B.K.P. Horn, “Robot Vision”, MIT Press, Cambridge, MA, 1986.
[8] M.T. Mason and J.K. Salisbury, “Robot Hands and the Mechanics of Manipulation”, MIT Press,
Cambridge, MA, 1985.
[9] F. Martin, “Robotic Explorations: A Hands-on Introduction to Engineering”, Prentice Hall,
2000.
[10] G. McComb and M. Predko, “Robot Builder’s Bonanza”, McGraw-Hill, 2006.
[11] P.J. Mckerrow, “Introduction to Robotics”, Addison-Wesley, Reading, MA, 1991.
[12] R. Murray, Z. Li, S, Sastry, and S. Sastry, “A Mathematical Introduction to Robotic Manipulation / Edition 1”, Taylor & Francis, Oxford, UK, 1994.
[13] R. Murphy, “An Introduction to AI Robotics”, MIT Press, Cambridge, MA, 2000.
[14] Y. Nakamura, “Advanced Robotics: Redundancy and Optimization”, Addison-Wesley, Reading,
MA, 1991.
[15] R.P. Paul, “Robot Manipulators: Mathematics, Programming, and Control”, MIT Press, Cambridge, MA, 1981.
[16] M.H. Raibert, “Legged Robots that Balance”, MIT Press, Boston, MA, 1986.
[17] W.E. Snyder, “Industrial Robots: Computer Interfacing and Control”, Prentice-Hall, Englewood
Cliffs, NJ, 1985.
[18] T. Yoshikawa, “Foundations of Robotics: Analysis and Control”, MIT Press, Cambridge, MA,
1990.
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Web Resources
[1] Computer Vision Homepage, http://www.cs.cmu.edu/afs/cs/project/cil/ftp/html/vision.html.
[2] CVonline, http://homepages.inf.ed.ac.uk/rbf/CVonline/.
[3] Robotics Internet Resources Page, http://robotics.nasa.gov/links/resources.php
[4] Player/Stage, http://playerstage.sourceforge.net/.
[5] Robotics Institute, Carnegie Mellon University, http://www.ri.cmu.edu/.
[6] Robotics Online, http://www.roboticsonline.com/.
[7] Robot Operating System (ROS), http://www.ros.org/.
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Grading
The grade of the course will consist of the following components:
Homeworks
Exam (11/19/15)
Project
Project Presentation
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45%
20%
30%
5%
Homeworks
Three homeworks will be given during the semester. They will consist of problems that will help you
understand the material and monitor your progress. Homeworks are due ten days after the hand-out
day. Solutions to the homeworks will be distributed. One of the homeworks may be a programming
assignment in which case, you will have three weeks to work on it.
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Exam
The exam will test your understanding of some of the basic concepts taught in the class.
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Project
One of the most important components of this class is the final project. Projects may take the
following forms (you can work in groups of two or three if you want):
• Literature survey (with critical evaluation) on a given topic.
• Theoretical work.
• Simulation or experiments.
The project should not be limited to a plain literature survey. It should be a substantial piece of
work that addresses issues beyond those covered in class. Moreover, you should stop by my office
and discuss your topic with me. If you choose to do experimental work, you may use the robots
(Pioneers, etc.) of the AI, Robotics, and Computer Vision Laboratory of the Computer Science
Department or the robots in the Undergraduate Robotics Laboratory.
All the students should give a short presentation of their project towards the last weeks of the
semester. This presentation will count for 5% of the total class grade.
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The project schedule is:
October 8: Initial report. One or two pages explaining the project with a list of references.
November 10: Partial report.
December 15: Final report (15 to 30 pages).
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Cheating and Plagiarism
The homeworks must not be the result of cooperative work. Each student must work individually
in order to understand the material in depth. You may discuss the issues but by no means, copy the
homework of somebody else. All work in the projects must properly cite sources. For example, if
you quote a source in your project, you must include the quotation in quotation marks and clearly
indicate the source of the quotation. Any student caught cheating will receive an “F” as a class
grade and the University policies for cheating and plagiarism will be followed.
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Syllabus
Week
Topic
Reading Assignment
1
Introduction
Chapter 1
2
Transformations
Chapter 2
3
Kinematics
Chapter 3
4
Inverse Kinematics
Chapter 4
5
Jacobians
Chapter 5
6
Dynamics
Chapter 6
7
Trajectory Generation
Chapter 7
8
Robot Control
Chapters 9 and 10
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Robot Control
Chapters 9 and 10
10
Force Control
Chapter 11
11
Sensors
Notes
5
12
Robot Programming
Chapters 12 and 13
13
Mobile Robots
Notes
14
Project Presentations
15
Project Presentations
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