机器人学基础第1章绪论蔡自兴0

机器人学基础机器人学基础 Fundamentals of Robotics智能科学基础系列课程国家级教学团队智能科学基础系列课程国家级教学团队“机器人学机器人学”课程课程主讲：蔡自兴主讲：蔡自兴 谢斌谢斌中南大学中南大学2010Fundamentals of Robotics12Ch.1 Introduction第第1 1章章 绪绪 论论Ch.1 IntroductionContents Course Schedule Top 10 Robotics News of 2008 Development of Robotics Structure,Feature,and Classification of Robots Robotics and AI3Ch.1 IntroductionThe Textbooks 教材Cai Zixing.Fundamentals of Robotics 机器人学基础.机械工业出版社，2009John J Craig.Introduction to Robotics,Mechanics and Control.Pearson Education,Inc.,Publishing,2005 机器人学导论.机械工业出版社，20054Ch.1 Introduction机器人学基础机器人学基础国家级“智能科学基础系列课程教学团队”机器人学课程配套教材机械工业出版社20095Ch.1 Introduction我国首部关于智能机器人系统专著（1988）入选中国优秀科技图书要览（1990）6Ch.1 Introduction机器人学（2000）获全国高校优秀教材一等奖（2002）7Ch.1 Introduction机器人学二零零九8Ch.1 Introduction教学进度安排（教学进度安排（1）月日周次教学内容教学内容教学时数教学方式课外时数备注321绪论绪论2讲授351机器人学的数学基础机器人学的数学基础2讲授392数学基础数学基础/机器人运动学机器人运动学2讲授3122机器人运动学机器人运动学2讲授3163机器人动力学机器人动力学2讲授3193机器人控制（机器人控制（1）2讲授3234机器人控制（机器人控制（2）2讲授9教学进度安排（教学进度安排（2）月日周次教学内容教学内容教学时数教学方式课外时数备注3264机器人控制（机器人控制（3）2讲授3305实验一实验一2实验425机器人传感器机器人传感器2讲授466机器人传感器机器人传感器/机器人轨迹规划机器人轨迹规划2讲授496机器人轨迹规划机器人轨迹规划2讲授4137主题讨论主题讨论2课堂报告4167实验二实验二2实验10教学进度安排（教学进度安排（3）月日周次教学内容教学内容教学时数教学方式课外时数备注4208机器人编程机器人编程2讲授24238机器人编程机器人编程训练训练2训练4279综合实验综合实验:智能机器人的路智能机器人的路径规划与行为决策实验径规划与行为决策实验 2综合实验4309机器人应用机器人应用2讲授5410机器人与展望机器人与展望2讲授25710考试考试2讲授11QuestionWhat is Robot looks like in your mind？12Ch.1 IntroductionRobots in Movies13Ch.1 IntroductionRobots in Movies14Ch.1 Introduction15Robots in MoviesCh.1 IntroductionContents Course Schedule Top 10 Robotics News of 2008 Development of Robotics Structure,Feature,and Classification of Robots Robotics and AI16Ch.1 Introduction17Ch.1 Introduction1 The U.S.Big Dog In March 2008,the U.S.government released a video of the military robots called Big Dog,which has amazing mobility and adaptability.Latest Big Dog can climb up 35 slopes,carry more than 40 kg equipment,representing about 30%of its weightIt can move along a simple route,or by remote control.18Ch.1 Introduction2 Robot ride on a wheelbarrowIn September 2008 Japanese Murata Manufacturing Institute launched a new type of robot riding on a wheelbarrow,named seiko.This new type of robot can maintain its balance through a series of sensors and gyroscopes,and easy to complete riding of a wheelbarrow.This new robot seiko is 50cm high,5kg weight,designed to look like a little girl.19Ch.1 Introduction3 Washing robot launched in JapanThis robot can help people washing dishes,especially useful for the families with elders and patients.Washing robot confirms the shape and location of the tableware through a camera installed in the ceiling roof,and sorts out all tableware with the help of sensors equipped in the palm.20Ch.1 Introduction4 Olympic robot Fuwa debut at BeijingThe Olympic robot Fuwa perform dancing at the Beijing Capital International Airport July 15,2008.Five robot Fuwa debut on Tuesday inside the newly-built Terminal 3 of the airport.The robots can provide guiding services for passengers with language contact.21Ch.1 Introduction5 Domestic underwater robots in expedition of the North Pole In July 2008,the North Pole ARV underwater robot starting from Shenyang,participated in Chinas third Arctic scientific expedition.This is the first time for Chinas underwater robots to carry out experiment at high latitudes.It will provide a larger content of continuous,real-time ice observation techniques.22Ch.1 Introduction6 The first robot that can kill cancer cellsScientists at the University of California have invented a new form of robot with a strong ability to kill cancer cells.The birth of cancer killer nano thrusters is not only a success of nanotechnology,but also a new platform for the development of next-generation medical nano-robots.23Ch.1 Introduction7 Robot World Cup held in China for the first timeChina successfully held the Robot World Cup through July 14-20,2008 for the first time.24Ch.1 Introduction8 Phoenix probe landing on MarsAfter more than nine months of space travel,the U.S.Mars probe Phoenix successful land on Mars near the North Pole region on May 25,2008.This is the first time for a human detector to land near the north pole of Mars.25Ch.1 Introduction9 Robot Controlled By Rat Brain Cells Some idiotic scientists at Reading University have developed a robot that is controlled by rat brain cells.The neurons are now being taught to steer the robot around obstacles and avoid the walls of the small pen in which it is kept.By studying what happens to the neurons as they learn its creators hope to reveal how memories are laid down.26Ch.1 Introduction10 Chinas first family service intelligent Robot27Tami has a relatively high intelligence,who can speak freely like human beings,it understands more than 200 English sentences,could identify the owner and objects through eyes,and to give their names.Tami is mainly used for family services,to take care of the elders,and to accompany with children.Ch.1 Introduction