Special Topics Courses 2012-2013

FALL 2012

Sensitive Robotics

Professor Eduardo Torres-Jara

Monday - Wednesday 9:00am - 10:20am - AK232

This course introduces an approach to robotics called Sensitive Robotics. This approach allows robots to perform complex tasks by using large array of sensors that provide information relevant to the task at hand.  The course studies the hardware and software implications of this approach. At the hardware level, we discuss the mechanical and electrical characteristic of the sensors and actuators, the design consideration of arms and limbs, and the hardware architecture alternatives. At the software level, we discuss the implications that the hardware changes have in the software architecture, and the control algorithms. Machine learning techniques, needed to deal with large array of sensors, are also covered. The case of robotic manipulation (sensitive manipulation) is introduced as an example of this approach and it is expanded to walking, flying and swimming robots.

Prerequisites: Consent of the instructor.

SPRING 2013

Motion Planning

Professor Dmitry Berenson

Tuesday - Thursday 1:00pm - 2:20pm - SH106

Motion planning is the study of algorithms that reason about the movement of physical or virtual entities. These algorithms can be used to generate sequences of motions for many kinds of robots, robot teams, animated characters, and even molecules. This course will cover the major topics of motion planning including (but not limited to) planning for manipulation with robot arms and hands, mobile robot path planning with non-holonomic constraints, multi-robot path planning, high-dimensional sampling-based planning, and planning on constraint manifolds. Students will implement motion planning algorithms in open-source frameworks, read recent literature in the field, and complete a project that draws on the course material. The PR2 robot will be available as a platform for class projects.

Prerequisites: Undergraduate Linear Algebra, experience with 3D geometry, and significant programming experience.

Human-Robot Interaction

Professor Sonia Chernova

Tuesday - Thursday 3:30pm - 4:50pm - AK108

This course focuses on human-robot interaction and social robot learning, exploring the leading research, design principles and technical challenges we face in developing robots capable of operating in real-world human environments. The course will cover a range of multidisciplinary topics, including physical embodiment, mixed-initiative interaction, multi-modal interfaces, human-robot teamwork, learning algorithms, aspects of social cognition, and long-term interaction. These topics will be pursued through independent reading, class discussion, and a final project.

Prerequisites: Mature programming skills and at least undergraduate level knowledge of AI. No hardware experience is required.

C TERM

Biomedical Robots

Professor Gregory S. Fischer

Monday - Wednesday 3:00pm - 4:50pm - GH227

This course will provide an overview of a multitude of biomedical applications of robotics. Applications covered include: image-guided surgery, percutaneous therapy, localization, robot-assisted surgery, simulation and augmented reality, laboratory and operating room automation, robotic rehabilitation, and socially assistive robots. Specific subject matter includes: medical imaging, coordinate systems and representations in 3D space, robot kinematics and control, validation, haptics, teleoperation, registration, calibration, image processing, tracking, and human-robot interaction. Topics will be discussed in lecture format followed by interactive discussion of related literature. The course will culminate in a team project covering one or more of the primary course focus areas.

Recommended background: Linear algebra, RBE 501 or equivalent