Robotics II: Project Information
There are two sorts of information here that are relevant to your project:
Project requirements
Project ideas
Project Ideas
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Design your own: Suggest a project that is interesting to you. As long as it is challenging and related to the class topics, I will probably approve it. It is my belief that you and I will both get more out of the class if your project is closely aligned with your interests. The IEEE Robotics and Automation Magazine is a good source of ideas; volume 14, number 1, (March 2007) is focused on "Grand Challenges of Robotics." Also look at available projects on my Lab's wiki.
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Build and test a Pachinko machine: Build a Pachinko-like machine. The idea would be to be to determine how to place pins so that a part of a given geometry would always reach the bottom in a chosen configuration. Use dVC2d for testing. If multiple people are involved, expand the scope of the project to include parameter estimation from part trajectory data gathered with a camera.
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Minimum time-terrain traversal: In dVC2d, build a vehicle (maybe a legged-robot) and controller that can move across the terrain in minimum time. The terrain might have loose stones on it.
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Grasp acquisition: Perform grasp selection with GraspIt! or other software. Then execute the grasp with the Barrett Hand. See if you achieved the planned grasp.
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Grasp acquisition under uncertainty: Implement algorithm to choose grasps, then attempt to achieve grasp in simulation using dVC2d. Inject error and see how errors effect grasp achievement.
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Metamorphic robots: Create components that dock and undock and plan shape-changing tasks, e.g., create a tank tread or open loop and cause it to locomote over uneven terrain.
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Push planning I: Use dVC2d and the RDT to plan pushing actions in a horizontal plane with obstacles. Goal is to move an object from a given initial configuration to a goal configuration with a paddle-type pusher. This is inspired by Lynch's thesis.
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Push planning II: Use dVC2d and the RDT to plan pushing actions in a horizontal plane with obstacles. Goal is to move an object from a given initial configuration to a goal configuration using a needle-like pusher. This is inspired by Kumar's micro-manipulation work.
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Automated handling of shipping containers: Develop planner for automated handling of shipping containers.
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Caging: Develop control algorithms for multiple robots to surround and transport an object. Study size of disturbing force for object to escape the cage. You could do this same project with an articulated hand replacing the robots.
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Build and test a robot grasper: A planar hand would be sufficient. Would be great to simulate in dVC2d and compare simulated and experimental results.
Project Requirements
There are three due dates (see the Lecture page for dates):
A one page proposal is due soon after spring break
A project presentation on the last or second last day of class
A final report due any time after your project presentation until the end of final exams
Detailed project requirements are below.
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Project proposal: A one-page description of your project idea and goals
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Project demo/presentation
Presentation Outline
- Explain your problem at a high level and explain why it is important (i.e., why should the audience care about the problem?).
- Clearly state the problem in technical terms.
- Describe approach used to solve the problem, for example:
- mathematical or experimental model
- solution approach
- algorithm pseudo-code
- controller block diagrams
- Show results obtained including experiments, animations, and plots if applicable.
- Describe what worked and what didn't. Give plausible explanations for what did not work and what might be done to make these things work better.
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Written project report
Written Report Structure
- The written report should be 7-10 pages, roughly following the presentation outline. The length is less important than the information you convey. Your report should accomplish the following:
- Answer the question: What is the problem studied?
- Answer the question: Why is it important - beyond needing a project to pass the course.
- Answer the question: How did you approach the problem (e.g., derive a math model, experimental approach, pseudo-code of your algorithm, block diagram of your controller, and method of analysis). This explanation should be detailed enough to allow someone else to duplicate your approach and validate (or invalidate) your results.
- Present your results, discuss possible sources of error, and your conclusions.
- If there are animations or videos, the report should give the urls to them.
- Cite the relevant information sources used (e.g., technical papers).
- Planning and control code developed by you should be included in an appendix.