Course on Service Robotics

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Basic information on the course can be found on university pages:

Additional material to the course

Lecture presentations (in Slovak)

go Kinematics - Introduction (pdf)
go Kinematics - Joint-based structures (pdf) -- video
go Kinematics - Wheel-based structures (pdf) -- video1, video2
go Motion control (pdf)
go ROS (Robot Operating System) (pdf)
go Navigation (pdf)
go Environment modelling (pdf)
go Localization (pdf)
go Path planning (pdf)

Motivational material

video-1 -- video-2 -- video-3 -- video-4 -- video-5 -- video-6 -- video-7 -- video-8 -- video-9 -- video-10
Kinematics for Nao

Topics

  • Robot operating system
    1. characteristics of ROS
    2. ROS on file system level
    3. ROS on computational graph level
    4. ROS communication
    5. tools for introspection, visualization, modeling and simulation
  • Kinematics - introduction
    1. pose and its representation
    2. homogeneous transformations
  • Kinematics - joint structures
    1. joints and their types
    2. lower pair joints
    3. denavit-hartenberg representation
    4. direct kinematics problem and its solution
    5. inverse kinematics problem and its solution
    6. robot Nao and its joints
  • Kinematics - wheeled structures
    1. wheel type and geometry
    2. stability, maneuverability and controllability
    3. mobile robots kinematics
    4. direct kinematics model of a simple differential robot
    5. kinematic wheel constraints
  • Motion control
    1. trajectory types
    2. explicit trajectory following
    3. hybrid system usage
    4. velocity vector arrays
  • Environment modeling
    1. model characteristics
    2. occupancy grid maps
    3. usage of lidar/sonar for model building
    4. line maps
    5. topological maps
    6. landmark maps
  • Localization
    1. localization characteristics and tasks
    2. odometry and uncertainty
    3. odometry formula for a simple differential robot
    4. map-based localization
    5. belief and probabilistic robotics
    6. markov localization
    7. formulas for markov localization
    8. landmark/beacon-based localization
  • Path planning
    1. characteristics and basic approaches
    2. configuration space
    3. graph construction methods
    4. avoiding obstacles

Additional reading

handbook of robotics Handbook of Robotics (2nd edition)
autonomous mobile robots Introduction to Autonomous Mobile Robots

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Last updated 21.6.2018