The following homework assignments are due on the day specified.
Homework #1: Uses of Robots - due 26 Jan
Find any reading that discusses a mobile (preferably autonomous) robot being used for a productive function.
Be ready to do a 3 to 5 minute presentation summarizing the robot's capabilities and how it performs it's function.
The reading is to be turned in after class.
Reading #1: Introduction and Uses of Robots - due 26 Jan
Read R&N ("Artificial Intelligence A Modern Approach" by Russel & Norvig)
sections 25.1 and 25.2. Be ready to discuss it in class.
Reading #2: Actuators - due 26 Jan
Read R&N section 25.3 Effectors (through page 782). Read
3D micomachined devices based on
Polyimide Joint technology (an in-depth understanding of this paper is not required).
Be ready to discuss the readings in class.
Reading #3: Effectors - due 28 Jan
Read R&N section 25.3 Effectors (through page 782). Read
A Walking Silicon Micro-Robot.
Be ready to discuss the readings in class.
Debate #1: Wheels vs Legs - due 2 Feb
Wheels: Max, Johnny, Andrew, Nadya, Ryan, Tyler
Legs: Steve, William, Marcus, Phil, Kristen, Tats
Bring a paper (technical paper, book chapter, or web page printout) to support your case.
Reading #4: Sensors1 - due 4 Feb
Read R&N section 25.3 Sensors (through page 786).
Be ready to discuss the readings in class.
Reading #5: Sensors2 - due 9 Feb
Read Haptic Exploration of Objects with Rolling Sliding.
Be ready to discuss the reading in class.
Intelligent Robot Vision Sensors in VLSI
is an optional reading and will probably not be discussed in class.
Project Demo #1: Discuss your project. - due 9 Feb.
Discuss what you intend to do for your project and the results of your search for other similar projects.
How is yours different from what has already been done?
Reading #6: Power Supply - due 11 Feb
Read Continuous Power Supply for a Robot Colony.
Be ready to discuss the readings in
class.
Reading #7: Reactive Control - due 16 Feb
Read "Vehicles" by Valentino Braitenberg pages 1 through 14.
Be ready to discuss the readings in class.
Reading #8: Deliberate Control - due 18 Feb
Read "Introduction to AI Robotics" Chapter 2.
Be ready to discuss the readings in class.
Reading #9a: Subsumption Architecture - due 23 Feb
Read A
Robust Layered Control System For a Mobile Robot by
Rodney Brooks. This is the original paper on Subsumption Architecture. Be
ready to discuss it in class.
Reading #9b: Behavior-Based Control - due 25 Feb
Read
Behavior-Based Control: Examples from Navigation, Learning, and Group
Behavior by Maja Mataric (1997). You can also get it
here.
Be ready to discuss it in class.
Debate #2: Control - due 2 Mar
Behavior-Based: Max, Nadya, Tyler, Kristen, William, Steve
Deliberate/Reactive: Andrew, Tats, Marcus, Johnny, Ryan, Phil
Bring a paper (technical paper or book chapter) to support your case.
Project Demo #2: Display and discuss your project. - due 23 Mar.
The robot body should be constructed, with the actuators and power supply in place.
Homework #2: Robotics and Biological Systems - due starting 23 Mar.
Observe any animal (besides a human) in motion to study its means of locomotion.
How could we make a robot that copies its mode of locomotion?
Report your results to the class (2 or 3 minutes). No repeats.
Reading #10: Robotics and Biological Systems - due 25 Mar.
Read Biorobotic
Approaches to the Study of Motor Systems by Beer, R.D., Chiel, H.J.,
Quinn, R.D. and Ritzmann, R.E.. Be ready to discuss it in class.
Debate #2 Discussion: Control - due 25 Mar
Each student will give 2 or 3 sentences in support of their side.
Behavior-Based: Max, Nadya, Tyler, Kristen, William, Steve
Deliberate/Reactive: Andrew, Tats, Marcus, Johnny, Ryan, Phil
Bring a paper (technical paper or book chapter) to support your case.
Homework #3: Project Web Site - due 30 Mar.
Create a web site with a description of your project, photos, and progress.
Make sure you include your names and the name of the project.
Reading #11: Evolutionary Robotics - Train on Model - due 30 Mar.
Read RoboShepherd: Learning a Complex Behavior by Alan C. Schultz, John J. Grefenstette, and
William Adams. A pdf version is available here.
Be ready to discuss it in class.
Reading #12: Evolutionary Robotics - Train on Robot - due 1 Apr.
Read "Automatic Creation of an Autonomous Agent: Genetic Evolution of a Neural
Network Driven Robot" by D. Floreano and F. Mondada (1994).
A pdf version is available here.
Be ready to discuss it in class.
Reading #13: Evolutionary Robotics - Train on Model/Robot - due 6 Apr.
Read "From Simulated to Real Robots" by Henrik
Hautop Lund and Orazio Miglino.
Be ready to discuss it in class.
Reading #14: Evolutionary Robotics Survey / Anytime Learning - due 8 Apr.
Read "Challenges in Evolving Controllers for Physical Robots"
by Maja Mataric and Dave Cliff
and
"Evolving Controllers for Real Robots: A Survey of the Literature"
by Joanne Walker, Simon Garrett, and Myra Wilson.
Be ready to discuss it in class.
Project Demo #3: Display and discuss your project. - due 13 Apr.
The sensors and controller should be in place.
Reading #15: Anytime Learning - due 20 Apr.
Read "An approach to anytime learning"
(postscript)
(pdf)
by J. Grefenstette and C. Ramsey. (1992).
Be ready to discuss it in class.
Reading #16: Cooperation - due 22 Apr.
Read "Comparison of Sampling Sizes for the Co-Evolution of Cooperative Agents)
by Gary B. Parker and H. Joseph Blumenthal. (2003).
Be ready to discuss it in class.
Reading #17: Evolution of machines - due 27 Apr.
Read about the The Golem
Project by Hod Lipson and Jordan B. Pollack. Make sure you check out all the links
in "What would you like to learn more about?" plus any others of interest.
Be ready to discuss it in class.