ROS Essentials, Perception, and Control
Project: Search and sample return
Introduction to ROS
Packages and catkin workspaces
Biologically inspired robots
Write ROS nodes
Intro to kinematics
Forward and reverse kinematics
Denavit Hartenberg parameters for serial manipulators.
Project: Robotic arm: Pick and place
Human robot interaction & robot ethics
Perception overview
Introduction to 3D perception
Calibration, filtering and segmentation
- Intro to Calibration, Filtering, and Segmentation
- Sensor Calibration
- RGB Camera Model
- Calibration Pattern
- OpenCV Calibration
- Extrinsic Calibration
- RGBD Calibration in ROS
- Point Cloud Filtering
- Tabletop Segmentation Exercise
- Voxel Grid Downsampling
- Pass Through Filtering
- Segmentation in Perception
- RANSAC Overview
- RANSAC Plane Fitting
- Extracting Indices
- Outlier Removal FilterClustering and segmentation
Object recognition
Project: 3D perception
Soft robotics
Robot grasping
Introduction to controls
Quadrotor control using PID
- Introduction to a Positional Controller
- Quadrotor Kinematic and Dynamic Model 1
- Quadrotor Quiz
- Quadrotor Kinematic and Dynamic Model 2
- Cascade PID Control
- Lab Walkthrough
- Environment Setup
- Exploring the Sim
- Helpful Tools
- Completing PID Controller
- Hover Controller
- dynamic_reconfigure
- Attitude Controller
- Positional Controller
- Lab Summary
- PID Wrap Up
Swarm robotics
- Introduction
- READ : Research Papers
- Swarm Robots in Medicine
- Kilobots
- Search and Rescue
- Self-Assembly Swarm Robots
- WATCH: Concepts in Action
- Meet Sabine Hauert
- Exclusive: Sabine Hauert
- DO : Lab – Create a Swarm
Intro to neural networks
Deep neural networks
Convolutional neural networks
Fully convolutional networks
Lab: Semantic segmentation
Project: Follow me