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Robotics Course Guidebook

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Robotics Course Guidebook Topic Subtopic Science & Mathematics Engineering Robotics Course Guidebook Professor John Long Vassar College PUBLISHED BY: THE GREAT COURSES Corporate Headquarters 4840 Westfields Boulevard, Suite 500 Chantilly, Virginia 20151-2299 Phone: 1-800-832-2412 Fax: 703-378-3819 www.thegreatcourses.com Copyright © The Teaching Company, 2015 Printed in the United States of America This book is in copyright. All rights reserved. Without limiting the rights under copyright reserved above, no part of this publication may be reproduced, stored in or introduced into a retrieval system, or transmitted, in any form, or by any means (electronic, mechanical, photocopying, recording, or otherwise), without the prior written permission of The Teaching Company. John Long, Ph.D. Professor of Biology and Professor of Cognitive Science Vassar College rofessor John Long is a Professor of Biology and a Professor of Cognitive Science on the PJohn Guy Vassar Chair of Natural History at Vassar College. He also serves as the Director of Vassar’s Interdisciplinary Robotics Research Laboratory, which he helped found in 2003. He has taught 27 different courses in four departments and programs, including Perception and Action, a course in the Cognitive Science Department that features robotics and laboratories in which students study and program mobile robots. Professor Long received his Ph.D. in Zoology from Duke University, where he specialized in biomechanics and received an excellence-in-teaching award. Professor Long is known internationally for his work in the burgeoning ¿HOGVRIELRURERWLFVDQGHYROXWLRQDU\URERWLFV$VDQDVVRFLDWHHGLWRUKHKDV KHOSHGODXQFKWZRVFLHQWL¿FMRXUQDOVLQURERWLFVFrontiers in Robotics and AI in 2014 and Soft Robotics in 2013. He creates self-propelled, autonomous models of animals, both living and extinct, in order to study how the animals work, behave, and evolve. He also designs and builds bioinspired robots in collaboration with computer scientists, electrical engineers, mechanical engineers, physicists, and development-stage robotics companies. Professor Long’s research currently is funded by the National Science Foundation (NSF), and he has received previous research funding awards IURP WKH 16) WKH 2I¿FH RI 1DYDO 5HVHDUFK WKH 86 6PDOO %XVLQHVV $GPLQLVWUDWLRQ DQG WKH 'HIHQVH $GYDQFHG 5HVHDUFK 3URMHFWV $JHQF\ +HDOVRVHUYHVDVDQH[SHUWUHYLHZHURIURERWLFVSURMHFWVIRUWKH(XURSHDQ Commission. Many students working with Professor Long present WKHLU UHVHDUFK DW QDWLRQDO DQG LQWHUQDWLRQDO VFLHQWL¿F PHHWLQJV DQG HDUQ FRDXWKRUVKLS RQ VFLHQWL¿F UHVHDUFK SDSHUV DQG PRVW JR RQ WR FDUHHUV LQ science, technology, engineering, mathematics, or medicine. i Professor Long is the author of Darwin’s Devices: What Evolving Robots Can Teach Us about the History of Life and the Future of Technology, and along with his students and collaborators, he has published more than 50 SDSHUV LQ VFLHQWL¿F DQG HQJLQHHULQJ MRXUQDOV )RU GHWDLOV VHH KLV *RRJOH 6FKRODUSDJHKWWSELWO\I)H0UI 3URIHVVRU/RQJDQGKLVURERWVKDYHEHHQ featured in the international press; on radio, television, and podcast news programs; and in science documentaries, including Through the Wormhole with Morgan Freeman on the Science Channel and Evolve and Predator X RQ+,6725<+HDOVRKDVEHHQSUR¿OHGLQWKHMRXUQDOScience for a special issue on robotics. Ŷ ii Table of Contents INTRODUCTION Professor Biography ............................................................................i Disclaimer .......................................................................................... vi Safety ............................................................................................... vii Course Scope .....................................................................................1 LECTURE GUIDES LECTURE 1 The Arrival of Robot Autonomy ...........................................................4 LECTURE 2 Robot Bodies and Trade-Offs ...........................................................18 LECTURE 3 Robot Actuators and Movement .......................................................27 LECTURE 4 Robot Sensors and Simple Communication .....................................35 LECTURE 5 Robot Controllers and Programming ................................................45 LECTURE 6 Human-Inspired Robot Planning ......................................................55 LECTURE 7 Animal-Inspired Robot Behavior .......................................................64 LECTURE 8 Basic Skills for Making Robots .........................................................71 LECTURE 9 Designing a New Robot ....................................................................79 iii Table of Contents LECTURE 10 A Robot for Every Task? ...................................................................89 LECTURE 11 Robot Arms in the Factory ................................................................97 LECTURE 12 Mobile Robots at Home ..................................................................107 LECTURE 13 Hospital Robots and Neuroprosthetics ...........................................115 LECTURE 14 Self-Driving Vehicles.......................................................................124 LECTURE 15 Flying Robots: From Autopilots to Drones ......................................133 LECTURE 16 Underwater Robots That Hover and Glide .....................................141 LECTURE 17 Space Robots in Orbit and on Other Worlds ..................................150 LECTURE 18 Why Military Robots Are Different ...................................................159 LECTURE 19 Extreme Robots ..............................................................................168 LECTURE 20 Swarm Robots ................................................................................176 LECTURE 21 Living Robots? ................................................................................184 LECTURE 22 Social Robots .................................................................................192 iv Table of Contents LECTURE 23 Humanoid Robots: Just like Us? ....................................................201 LECTURE 24 The Futures of Robotics .................................................................210 SUPPLEMENTAL MATERIAL Timeline ..........................................................................................220 Glossary .........................................................................................227 Answers ..........................................................................................238 Bibliography ....................................................................................253 v Disclaimer This series of lectures is intended to increase your understanding of the SULQFLSOHV RI URERWLFV 7KHVH OHFWXUHV LQFOXGH H[SHULPHQWV LQ WKH ¿HOG RI robotics, performed by an experienced professional. These demonstrations may include dangerous materials and are conducted for informational purposes only, to enhance understanding of the material. WARNING: THE DEMONSTRATIONS PERFORMED IN THESE LECTURES CAN BE DANGEROUS. ANY ATTEMPT TO PERFORM THESE DEMONSTRATIONS ON YOUR OWN IS UNDERTAKEN AT YOUR OWN RISK. The Teaching Company expressly DISCLAIMS LIABILITY for any ',5(&7,1',5(&7,1&,'(17$/63(&,$/25&216(48(17,$/ '$0$*(625/267352),76WKDWUHVXOWGLUHFWO\RULQGLUHFWO\IURPWKH use of these lectures. In states that do not allow some or all of the above limitations of liability, liability shall be limited to the greatest extent allowed by law. vi Safety As you work through activities in robotics, it is essential that you follow sound safety procedures. If you are under 18 years of age, you should only proceed with the supervision of an adult. Some of these activities involve SRWHQWLDOKD]DUGVWKDWLQFOXGHEXWDUHQRWOLPLWHGWRÀ\LQJSDUWVWKDWFRXOG harm your eyes; sharp parts that could abrade or cut your skin; mild electric current that could cause momentary discomfort; spinning motors that could entangle loose hair or clothing; solder, soldering irons, hot glue, and hot glue JXQVWKDWFRXOGEXUQ\RXUVNLQRULJQLWHD¿UHDQGKDQGWRROVWKDWFRXOGSRNH holes, abrade, or cut your skin. 7RLPSURYH\RXUFKDQFHVRIDYRLGLQJLQMXU\DOZD\VVWDUWZLWKDFOHDUZRUN surface. Any electric tools, such as a hot glue gun or soldering iron, should never be left plugged in and unattended. Any electric appliance, such as a hot glue gun or soldering iron, should never be used on or placed next to anything combustible, such as paper, clothing, or solvents. Also, before you begin to work, tie back loose hair and secure loose clothing. 5HPRYHDQ\QHFNODFHVRUEUDFHOHWV.HHSDFKDUJHG¿UHH[WLQJXLVKHUDQGD ¿UVWDLGNLWQHDUE\ Never work alone. With a partner, you will be assured of help in case of an emergency. Make sure that you have a phone handy and that you know the number for emergency help. When you are done, make sure to unplug all tools and appliances. vii viii Robotics Scope ike computers and self-propelled vehicles of the 20th century, robots are a technological revolution of the 21st century that impact Lnearly every aspect of our lives, businesses, and security. Robotics XQLWHVPDQ\¿HOGVRIVFLHQFHDQGHQJLQHHULQJDQGWKHVHV\QHUJLHVKHOSXV FUHDWHDQHZNLQGRIGHYLFHWKDWZH¶YHEHHQGUHDPLQJDERXWIRUPLOOHQQLD a driverless, self-controlled, goal-driven machine that moves itself or REMHFWVLQRUGHUWRDFFRPSOLVKHYHU\WKLQJIURPVLPSOHUHSHWLWLYHWDVNVWR complex missions. Robotics is the principled study of these remarkable machines with the goal of being able to design, build, test, and operate them. This course EHJLQVE\LQWURGXFLQJWKHPDQ\GLIIHUHQWVKDSHVDQGVL]HVRIURERWVJLDQW
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