ADVR-Humanoids, IIT - Spring 2017
Applied Geometric Representation and Computation
Every Friday at 12:00pm
- First meeting: "Projective and Interactive Geometry" [March 09, 2017]
Reading: Jules Bloomenthal and Jon Rokne. Homogeneous Coordinates. Notes from the Department of Computer Science, The University of Calgary. [Read beginning through "conics".]
Reading: Ulrich Kortenkamp. Foundations of Dynamic Geometry. Ph.D. Thesis, Swiss Federal Institute of Technology Zurich, 1999. [Read beginning through Section 7.]
Reading: Jorge Stolfi. Oriented projective geometry. Proceedings of the 3rd ACM Annual Symposium on Computational Geometry, pp 76—85, 1987. [Read beginning through section 7.]
- Second meeting: "3D rotation and spatial pose" [March 16, 2017]
Reading: J. M. Selig. "Introductory Robotics, Chapter 2: Rigid Transformations". Prentice Hall, 1992. [Read full chapter.]
Reading: Wikipedia entry on gimbal lock (https://en.wikipedia.org/wiki/Gimbal_lock) and YouTube videos by Stephen Seefeld (https://www.youtube.com/watch?v=rrUCBOlJdt4) and The Guerrilla CG Project (https://www.youtube.com/watch?v=zc8b2Jo7mno).
Reading: Berthold K. P. Horn. Some Notes on Unit Quaternions and Rotation, 2001. Read full paper.
Reading: Wikipedia entry on Euler’s formula in complex analysis (https://en.wikipedia.org/wiki/Euler%27s_formula) and rotation theorem (https://en.wikipedia.org/wiki/Euler%27s_rotation_theorem).
- Second meeting: "ROS and PCL" [March 16, 2017]
Coding Skills (ROS): http://robohub.org/programming-for-robotics-introduction-to-ros/
Coding Skills (PCL):http://pointclouds.org/documentation/tutorials/
- Second meeting: "Planning Algorithms" [March 16, 2017]
Reading:Steven M. LaValle, "Planning Algorithms: Chapter 1 and 2" [Link: http://planning.cs.uiuc.edu]
- Third meeting: "Stereo Vision and Kinematics" [March 23, 2017]
Reading:Bradski and Kaehler, "Learning OpenCV" (pp. 162—173, 370—404, 405—458]), O’Reilly, 2008 (http://www-cs.ccny.cuny.edu/~wolberg/capstone/opencv/LearningOpenCV.pdf).
Possible errata: http://www.ccs.neu.edu/course/cs7380/f10/errata.html#bradski-and-kaehler
Reading:J. M. Selig, "Introductory Robotics", Chapters 4, 5, 6: Kinematics, Inverse Kinematics, Jacobians (Read all except sections 4.2, 4.4, 5.3—5.7, 6.4—6.6), Prentice Hall, 1992.
Possible errata: http://www.ccs.neu.edu/course/cs7380/f10/errata.html#selig
Reading:Samuel R. Buss, "Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse, and Damped Least Squares Methods" (Read beginning through section 3: http://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/iksurvey.pdf.), Preprint posted to the web, updated 2009.
Reading:Paolo Baerlocher and Ronan Boulic, "An inverse kinematics architecture enforcing an arbitrary number of strict priority levels", The Visual Computer, volume 20, pages 402—417, 2004.
- Fourth meeting: "Footstep Planning" [March 30, 2017]
Reading:M. Fallon et al., "An Architecture for Online Affordance-based Perception and Whole-body Planning" (Sec. 2 and 4),JFR, 2014 (http://drc.mit.edu/docs/2014_jfr_fallon.pdf).
Reading:J. Garimort, A. Hornung and M. Bennewitz, "Humanoid Navigation with Dynamic Footstep Plans", ICRA, 2011.
Reading:A. Hornung and M. Bennewitz, "Adaptive level-of-detail planning for efficient humanoid navigation", ICRA, 2012.
Reading:A. Hornung, A. Dornbush, M. Likhachev, and M. Bennewitz, "Anytime search-based footstep planning with suboptimality bounds", Humanoids, 2012.
- Fifth meeting: "Footstep Planning" [April 6, 2017]
Reading:D. Maier, C. Lutz, and M. Bennewitz, "Autonomous biped navigation through clutter", ICRA, 2012.
Reading:A. Hornung, D. Maier, and M. Bennewitz, "Search-based footstep planning", ICRA, 2013.
Reading:D. Maier, C. Lutz, and M. Bennewitz, "Integrated perception, mapping, and footstep planning for humanoid navigation among 3D obstacles", IROS, 2013.
- Sixth meeting: "Footstep Planning" [April 13, 2017]
Reading:P. Karkowski, S. Oßwald, and M. Bennewitz, "Real-time footstep planning in 3D environments", Humanoids, 2016.
Reading:A. Stumpf, S. Kohlbrecher, D.C. Conner, O. von Stryk, "Supervised Footstep Planning for Humanoid Robots in Rough Terrain Tasks using a Black Box Walking Controller", Humanoids, 2014.
Reading:Alexander Stumpf, Stefan Kohlbrecher, Oskar von Stryk, David C. Conner, "Open Source Integrated 3D Footstep Planning Framework for Humanoid Robots", Humanoids, 2016.