Introduction to Robotics

• Teachers
• Weekly hours
• Competences
• Objectives
• Contents
• Activities
• Teaching methodology
• Evaluation methodology
• Bibliography
• Previous capacities

Teachers

Person in charge

• Anais Garrell Zulueta ( )

Others

• Isiah Zaplana Agut ( )
• Josep Fernàndez Ruzafa ( )

Weekly hours

Competences

Transversal Competences

Transversals

• CT1 [Avaluable] - Entrepreneurship and innovation. Know and understand the organization of a company and the sciences that govern its activity; Have the ability to understand labor standards and the relationships between planning, industrial and commercial strategies, quality and profit.
• CT2 [Avaluable] - Sustainability and Social Commitment. To know and understand the complexity of economic and social phenomena typical of the welfare society; Be able to relate well-being to globalization and sustainability; Achieve skills to use in a balanced and compatible way the technique, the technology, the economy and the sustainability.
• CT8 [Avaluable] - Gender perspective. An awareness and understanding of sexual and gender inequalities in society in relation to the field of the degree, and the incorporation of different needs and preferences due to sex and gender when designing solutions and solving problems.

Technical Competences

Especifics

• CE15 - To acquire, formalize and represent human knowledge in a computable form for solving problems through a computer system in any field of application, particularly those related to aspects of computing, perception and performance in intelligent environments or environments.
• CE17 - To develop and evaluate interactive systems and presentation of complex information and its application to solving human-computer and human-robot interaction design problems.
• CE24 - To ideate, design and build intelligent robotic systems to be applied in production and service environments, and that have to be capable of interacting with people. Also, to create collaborative and social intelligent robotic systems.
• CE25 - To ideate, design and integrate mobile robots with autonomous navigation capability, fleet formation and interaction with humans.
• CE28 - To plan, ideate, deploy and direct projects, services and systems in the field of artificial intelligence, leading its implementation and continuous improvement and assessing its economic and social impact.

Generic Technical Competences

Generic

• CG3 - To define, evaluate and select hardware and software platforms for the development and execution of computer systems, services and applications in the field of artificial intelligence.
• CG4 - Reasoning, analyzing reality and designing algorithms and formulations that model it. To identify problems and construct valid algorithmic or mathematical solutions, eventually new, integrating the necessary multidisciplinary knowledge, evaluating different alternatives with a critical spirit, justifying the decisions taken, interpreting and synthesizing the results in the context of the application domain and establishing methodological generalizations based on specific applications.
• CG5 - Work in multidisciplinary teams and projects related to artificial intelligence and robotics, interacting fluently with engineers and professionals from other disciplines.
• CG6 - To identify opportunities for innovative applications of artificial intelligence and robotics in constantly evolving technological environments.
• CG7 - To interpret and apply current legislation, as well as specifications, regulations and standards in the field of artificial intelligence.
• CG8 - Perform an ethical exercise of the profession in all its facets, applying ethical criteria in the design of systems, algorithms, experiments, use of data, in accordance with the ethical systems recommended by national and international organizations, with special emphasis on security, robustness , privacy, transparency, traceability, prevention of bias (race, gender, religion, territory, etc.) and respect for human rights.
• CG9 - To face new challenges with a broad vision of the possibilities of a professional career in the field of Artificial Intelligence. Develop the activity applying quality criteria and continuous improvement, and act rigorously in professional development. Adapt to organizational or technological changes. Work in situations of lack of information and / or with time and / or resource restrictions.

Objectives

1. To know robot components and what's the difference againts other authomatic machines
   Related competences: CG3, CG5, CT2,
2. To know the different types of robots that are in the market and their characteristics. Understand their manuals and specifications, as well as regulations and standards according to current legislation.
   Related competences: CG3, CG5, CG7, CT2,
3. To know the different sources of sensory information and their characteristics.
   Related competences: CG3, CG5,
4. To be able to merge different sources of information to obtain, formalize and represent the physical environment in a computable way for problem solving.
   Related competences: CG4, CG5, CG6, CG8, CT2, CE15,
5. To learn how to coordinate actions between robots.
   Related competences: CE24, CE25, CG4, CG6, CG9, CT1, CE15,
6. To be able to make judgments that include a reflection on relevant issues of a social, scientific or ethical nature, related to current robotics and its potential applications.
   Related competences: CE28, CG5, CG6, CG7, CG8, CT2, CT8,
7. To learn how to program robots and design robotic applications.
   Related competences: CE24, CE25, CG4, CG6, CG8, CG9, CT1, CT2, CE15, CE17,

Contents

1. Introduction
   Robotic history, types of robots and robo-ethics
2. Perception
   Uncertainty, sensor perception, noise position and normal distribution
3. Localization I
   Probabilidad condicional y teorema de bayas, localización, filtro bayesiano, filtro de kalman
4. Localization II
   Ejemplo FIltro de Kalman, filtro de kalman extendido, filtro de partículas
5. Mapping
   Mapas, Slam, movimiento, ruedas
6. Forward kinematics, inverse kinematics
   Calculation of direct and indirect kinematics, example of vehicles with wheels
7. Planning
   Planning, exploring, borders, replanning, exploring vs. exploitation
8. Introduction to manipulator robots.
   Definition of a manipulator robot. Types and components. Position and orientation of a rigid solid. Representations of orientations.
9. Direct kinematics of the manipulator robot.
   Reference systems and coordinate systems. Joint coordinate systems. DH parameters and homogeneous transformation matrices. Direct kinematics.
10. Differential kinematics of the manipulator robot.
    Linear and angular velocity of a rigid solid. Velocity propagation. Geometric and analytical Jacobian of a robot manipulator. Singularities of a robot.
11. Inverse kinematics of the manipulator robot I
    Analytical inverse kinematics of simple robots. Pieper's theorem and method for analytical inverse kinematics of manipulator robots with spherical wrist. Numerical methods based on the Jacobian matrix for the inverse kinematics of a manipulator robot (pseudoinverse, transposed, etc.).
12. Inverse kinematics of the manipulator robot II
    Numerical methods based on the Jacobian matrix for the inverse kinematics of a manipulator robot (pseudoinverse, transposed, etc.).

Activities

Activity Evaluation act

Teaching methodology

Evaluation methodology

Bibliography

Basic:

• Robotics, vision and control : fundamental algorithms in MATLAB - Corke, Peter I, Springer, [2017]. ISBN: 9783319544120
  https://discovery.upc.edu/discovery/fulldisplay?docid=alma991004155909706711&context=L&vid=34CSUC_UPC:VU1&lang=ca
• Introduction to autonomous mobile robots - Siegwart, Roland; Nourbakhsh, Illah Reza; Scaramuzza, Davide, MIT Press, cop. 2011. ISBN: 9780262015356
  
• Fundamentos de robótica - Barrientos, Antonio, McGraw-Hill, cop. 2007. ISBN: 9788448156367
  https://discovery.upc.edu/discovery/fulldisplay?docid=alma991003225419706711&context=L&vid=34CSUC_UPC:VU1&lang=ca
• Springer handbook of robotics - Siciliano, Bruno; Khatib, Oussama, Springer International Publishing, 2016. ISBN: 9783319325521
  
• Introduction to AI robotics - Murphy, R.R, The MIT Press, 2019. ISBN: 9780262348157
  

Previous capacities