Foundations of Robotics: A Multidisciplinary Approach with Python and Ros

ISBN-13: 9789811919824 / Angielski / Twarda / 2022 / 554 str.

Herath, Damith

Spis treści

PART I: Contextual Design        

Genealogy of artificial beings: from ancient automata to modern robotics

Nicolas Reeves and David St-Onge

1.1            What is a robot?

1.2            A mythical origin

1.3            Early automata

1.4            Anatomical analogies: understanding through replication

1.5            Industrial (r)evolutions

1.6            Modern robotics

1.7            SOCIAL ROBOTICS

1.8            Robotic futures and transrobotics

1. Teaching and learning robotics: A pedagogical perspective

Eleni Petraki and Damith Herath

2.1              Learning objective

2.2              Introduction

2.3              Defining the body of knowledge of the robotics field

2.4              Review of research on pedagogies and practices in robotics education

2.5              Assessment practices

2.6              Paving the way for innovative pedagogies and assessment in robotics education

2.7              Chapter summary

2.8              Quiz

2.9              References

 

 

1. Design Thinking: from Empathy to Ideation

Fanke Peng

 

3.1            Learning objectives

3.2            Introduction

3.3            Design Thinking Process: Discover, Define, Develop and Deliver

3.4            Conclusion

3.5            Quiz

3.6            References

 

1. Software building blocks: From Python to Version control

Damith Herath, Adam Haskard and Niranjan Shukla

 

4.1            Learning Objectives

4.2            Introduction

4.3            Python and basics of programming

4.4            Object-Oriented Programming

4.5            Error handling

4.6            Secure Coding

4.7            Case study – Writing your first program in Python

4.8            Version control basics

4.9            Containerising applications

4.10         Chapter summary

4.11         Revision questions

4.12         Further reading

4.13         References

 

1. The Robot Operating System (ROS1&2): programming paradigms and deployment

David St-Onge and Damith Herath

5.1              Learning Objectives

5.2              Introduction

5.3              Why ROS?

5.4              What is ROS?

5.5              Key features from the core

5.6              Additional useful features

5.7              Linux for robotics

5.8              Chapter Summary

5.9              Revision Questions

5.10           Further reading

5.11           References

 

1. Mathematical building blocks: From geometry to quaternions to Bayesian

Rebecca Stower, Bruno Belzile and David St-Onge

6.1              Learning Objectives

6.2              Introduction

6.3              Basic Geometry and Linear Algebra

6.4              Geometric Transformations

6.5              Basic Probability

6.6              Derivatives

6.7              Basic Statistics

6.8              Chapter Summary

6.9              Revision Questions

6.10           Further Reading

6.11           References

 

PART II: Embedded Design

1. What makes robots? Sensors, Actuators and Algorithms

Jiefei Wang and Damith Herath

7.1              Learning Objectives

7.2              Introduction

7.3              Sense: Sensing the world with sensors

7.4              Think: Algorithms

7.5              Act: Moving about with actuators

7.6              Computer vision in robotics

7.7              Review questions

7.8              Further reading

7.9              References

 

Mobile robots: Controlling, Navigating and path planning

Jiefei Wang and Damith Herath

8.1              Learning Objectives

8.2              Introduction

8.3              Mobile robots

8.4              Controlling robots

8.5              Path planning

8.6              Obstacle avoidance

8.7              Chapter Summary

8.8              Review Questions

8.9              Further Reading

8.10           References

 

1. Lost in space! Localisation and Mapping

Damith Herath

9.1             Learning Objectives

9.2             Introduction

9.3             Robot localisation problem

9.4             The Robot Mapping Problem

9.5             The Simultaneous Localisation and Mapping (SLAM) problem

9.6             The Kalman Filter

9.7             A Case Study: Robot Localisation using the Extended Kalman Filter

9.8             Summary

9.9             Review Questions

9.10         Further Reading

9.11         References

 

1. How to manipulate? Kinematics, dynamics and architecture of robot arms

Bruno Belzile and David St-Onge

10.1           Learning Objectives

10.2           Introduction

10.3           Architectures

10.4           Kinematics of Serial Manipulators

10.5           Kinematics of Parallel Manipulators

10.6           Dynamics

10.7           Chapter Summary

10.8           Revision Questions

10.9           Further Reading

10.10       References

1. Get together! Multi-robot systems: bio-inspired concepts and deployment challenges

Vivek Shankar Varadharajan and Giovanni Beltrame

11.1           Objectives of the chapter

11.2           Introduction

11.3           Types of multi-robot systems

11.4           Swarm Programming

11.5           Deployment of real world swarm systems

11.6           Chapter Summary

11.7           Chapter Revision

11.8           Further reading

11.9           References

 

1. The Embedded design process: CAD/CAM and prototyping

Eddi Pianca

12.1         Learning Objectives

12.2         Introduction

12.3         The design process and CAD

12.4         The Design Process vs Design Thinking

12.5         CAD systems

12.6         CAD file types

12.7         CAD parametric modelling - Assembly and part files

12.8         CAD parametric modelling - Drawing Files

12.9         CAD File Transfer

12.10     VR and AR for CAD

12.11     CAM and CNC

12.12     Workshop

12.13     Case study - hexapod robot project

12.14     Revision questions

12.15     References

 

PART II: Interaction Design

1. Social robots: Principles of interaction design and user studies

Janie Busby Grant & Damith Herath

13.1           Learning Objectives

13.2           Introduction

13.3           Cobots, Social Robots and Human Robot Interaction

13.4           Why conduct research?

13.5           Deciding on your research variables

13.6           Sampling, reliability & validity

13.7           Ethics

13.8           Chapter Summary

13.9           Revision Questions

13.10       References

 

1. Safety first: On the safe deployment of robotic systems

Bruno Belzile and David St-Onge

14.1           Learning Objectives

14.2           Introduction

14.3           Standards

14.4           Industrial Risk Assessment and Mitigation

14.5           Cobots

14.6           Mobile Robots

14.7           Chapter Summary

14.8           Revision Questions

14.9           Further Reading

14.10       References

 

1. Managing the world complexity: from linear regression to deep learning

Yann Bouteiller

15.1           Objectives of the chapter

15.2           Introduction

15.3           Definitions

15.4           From linear regression to deep learning

15.5           Policy search for robotic control

15.6           Wrapping it up: how to deeply understand the world

15.7           Summary

15.8           Quiz

15.9           Further reading

 

1. Robot ethics: Ethical design considerations

Dylan Cawthorne

16.1           Learning Objectives

16.2           Introduction

16.3           Ethics

16.4           The non-neutrality of technology

16.5           Technological determinism and multiple futures

16.6           Human values in design

16.7           Value sensitive design

16.8           Ethics tools

16.9           Case study: VSD of a Danish healthcare drone

16.10       Responsible research and innovation

16.11       Chapter summary

16.12       Revision questions

16.13       References

APPENDIX: Projects

1. Robot Hexapod Build Labs

David Hinwood and Damith Herath

17.1         Introduction

17.2         Project One: Defining the Robot System

17.3         Project Two: Modelling the Position Kinematics

17.4         Project Three: Modelling the Velocity Kinematics with Python

17.5         Project Four: Building Communication Protocols

17.6         Some Final Thoughts

17.7         References

 

1. ROS Mobile Manipulator labs

David St-Onge, Corentin Boucher and Bruno Belzile

18.1           Introduction

18.2           Project 1: Discovering ROS and the Dingo

18.3           Project 2: Kalman for differential drive

18.4           Project 3: 3-DoF Kinematics

18.5           Project 4: Let's bring it back together!

18.6           Project 5: Save the day!

 

           

O autorze

Damith Herath (Ph.D., Robotics) is an Associate Professor in Robotics and Art at the University of Canberra. Damith is a multi-award winning entrepreneur and a roboticist with extensive experience leading multidisciplinary research teams on complex robotic integration, industrial and research projects for over two decades. He founded Australia’s first collaborative robotics startup in 2011 and was named one of the most innovative young tech companies in Australia in 2014. Teams he led in 2015 and 2016 consecutively became finalists and, in 2016, a top-ten category winner in the coveted Amazon Robotics Challenge - an industry-focussed competition amongst the robotics research elite. In addition, Damith has chaired several international workshops on Robots and Art and is the lead editor of the book "Robots and Art: Exploring an Unlikely Symbiosis" - the first significant work to feature leading roboticists and artists together in the field of Robotic Art.

David St-Onge (Ph.D., Mech. Eng.) is an Associate Professor in the Mechanical Engineering Department at the École de technologie supérieure and director of the INIT Robots Lab (initrobots.ca). David’s research focuses on human-swarm collaboration more specifically with respect to operators’ cognitive load and motion-based interactions. He has over 10 years’ experience in the field of interactive media (structure, automatization and sensing) as workshop production director and as R&D engineer. He is an active member of national clusters centered on human-robot interaction (REPARTI) and art-science collaborations (Hexagram). He participates in national training programs for highly qualified personnel for drone services (UTILI), as well as for the deployment of industrial cobots (CoRoM). He led the team effort to present the first large-scale symbiotic integration of robotic art at the IEEE International Conference on Robotics and Automation (ICRA 2019).

Blurb

This open access book introduces key concepts in robotics in an easy to understand language using an engaging project-based approach. It covers contemporary topics in robotics, providing an accessible entry point to fundamentals in all the major domains. A section is dedicated to introducing programming concepts using Python, which has become a language of choice in robotics and AI. The book also introduces the reader to the Robot Operating System (ROS), the ubiquitous software and algorithmic framework used by researchers and the industry. The book provides an inspired, up-to-date and multidisciplinary introduction to robotics in its many forms, including emerging topics related to robotics on Machine Learning, ethics, Human-Robot Interaction,  and Design Thinking. The book also includes interviews with industry experts, providing an additional layer of insight into the world of robotics. The book is made open access through the generous support from Kinova Robotics. The book is suitable as an undergraduate textbook in a relevant engineering course. It is also suitable for students in art and design, high school students, and self-learners who would like to explore foundational concepts in robotics.

“This book provides the ‘foundation’ for understanding how robots work. It is the accessible introduction that artists and engineers have been waiting for.”

- Ken Goldberg, William S. Floyd Jr. Distinguished Chair in Engineering, UC Berkeley.