机器人学基础 第1章 绪论 蔡自兴0

机器人学基础FundamentalsofRobotics智能科学基础系列课程国家级教学团队“机器人学”课程主讲：蔡自兴谢斌中南大学2010FundamentalsofRobotics12Ch.1Introduction第1章绪论Ch.1IntroductionContentsCourseScheduleTop10RoboticsNewsof2008DevelopmentofRoboticsStructure,Feature,andClassificationofRobotsRoboticsandAI3Ch.1IntroductionTheTextbooks教材CaiZixing.FundamentalsofRobotics机器人学基础.机械工业出版社，2009JohnJCraig.IntroductiontoRobotics,MechanicsandControl.PearsonEducation,Inc.,Publishing,2005机器人学导论.机械工业出版社，20054Ch.1Introduction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.1Introduction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.1Introduction机器人学（2000）获全国高校优秀教材一等奖（2002）7Ch.1Introduction机器人学二零零九8Ch.1Introduction教学进度安排（1）月日周次教学内容教学时数教学方式课外时数备注321绪论2讲授351机器人学的数学基础2讲授392数学基础/机器人运动学2讲授3122机器人运动学2讲授3163机器人动力学2讲授3193机器人控制（1）2讲授3234机器人控制（2）2讲授9教学进度安排（2）月日周次教学内容教学时数教学方式课外时数备注3264机器人控制（3）2讲授3305实验一2实验425机器人传感器2讲授466机器人传感器/机器人轨迹规划2讲授496机器人轨迹规划2讲授4137主题讨论2课堂报告4167实验二2实验10教学进度安排（3）月日周次教学内容教学时数教学方式课外时数备注4208机器人编程2讲授24238机器人编程训练2训练4279综合实验:智能机器人的路径规划与行为决策实验2综合实验4309机器人应用2讲授5410机器人与展望2讲授25710考试2讲授11QuestionWhatisRobotlookslikeinyourmind？12Ch.1IntroductionRobotsinMovies13Ch.1IntroductionRobotsinMovies14Ch.1Introduction15RobotsinMoviesCh.1IntroductionContentsCourseScheduleTop10RoboticsNewsof2008DevelopmentofRoboticsStructure,Feature,andClassificationofRobotsRoboticsandAI16Ch.1Introduction17Ch.1Introduction1TheU.S.BigDogInMarch2008,theU.S.governmentreleasedavideoofthemilitaryrobotscalledBigDog,whichhasamazingmobilityandadaptability.LatestBigDogcanclimbup35°slopes,carrymorethan40kgequipment,representingabout30%ofitsweightItcanmovealongasimpleroute,orbyremotecontrol.18Ch.1Introduction2RobotrideonawheelbarrowInSeptember2008JapaneseMurataManufacturingInstitutelaunchedanewtypeofrobotridingonawheelbarrow,namedseiko.Thisnewtypeofrobotcanmaintainitsbalancethroughaseriesofsensorsandgyroscopes,andeasytocompleteridingofawheelbarrow.Thisnewrobotseikois50cmhigh,5kgweight,designedtolooklikealittlegirl.19Ch.1Introduction3WashingrobotlaunchedinJapanThisrobotcanhelppeoplewashingdishes,especiallyusefulforthefamilieswitheldersandpatients.Washingrobotconfirmstheshapeandlocationofthetablewarethroughacamerainstalledintheceilingroof,andsortsoutalltablewarewiththehelpofsensorsequippedinthepalm.20Ch.1Introduction4OlympicrobotFuwadebutatBeijingTheOlympicrobotFuwaperformdancingattheBeijingCapitalInternationalAirportJuly15,2008.FiverobotFuwadebutonTuesdayinsidethenewly-builtTerminal3oftheairport.Therobotscanprovideguidingservicesforpassengerswithlanguagecontact.21Ch.1Introduction5DomesticunderwaterrobotsinexpeditionoftheNorthPoleInJuly2008,theNorthPoleARVunderwaterrobotstartingfromShenyang,participatedinChina'sthirdArcticscientificexpedition.ThisisthefirsttimeforChina'sunderwaterrobotstocarryoutexperimentathighlatitudes.Itwillprovidealargercontentofcontinuous,real-timeiceobservationtechniques.22Ch.1Introduction6ThefirstrobotthatcankillcancercellsScientistsattheUniversityofCaliforniahaveinventedanewformofrobotwithastrongabilitytokillcancercells.Thebirthofcancerkillernanothrustersisnotonlyasuccessofnanotechnology,butalsoanewplatformforthedevelopmentofnext-generationmedicalnano-robots.23Ch.1Introduction7RobotWorldCupheldinChinaforthefirsttimeChinasuccessfullyheldtheRobotWorldCupthroughJuly14-20,2008forthefirsttime.24Ch.1Introduction8PhoenixprobelandingonMarsAftermorethanninemonthsofspacetravel,theU.S.MarsprobePhoenixsuccessfullandonMarsneartheNorthPoleregiononMay25,2008.ThisisthefirsttimeforahumandetectortolandnearthenorthpoleofMars.25Ch.1Introduction9RobotControlledByRatBrainCellsSomeidioticscientistsatReadingUniversityhavedevelopedarobotthatiscontrolledbyratbraincells.Theneuronsarenowbeingtaughttosteertherobotaroundobstaclesandavoidthewallsofthesmallpeninwhichitiskept.Bystudyingwhathappenstotheneuronsastheylearnitscreatorshopetorevealhowmemoriesarelaiddown.26Ch.1Introduction10China'sfirstfamilyserviceintelligentRobot27Tamihasarelativelyhighintelligence,whocanspeakfreelylikehumanbeings,itunderstandsmorethan200Englishsentences,couldidentifytheownerandobjectsthrougheyes,andtogivetheirnames.Tamiismainlyusedforfamilyservices,totakecareoftheelders,andtoaccompanywithchildren.Ch.1Introduction