Introduction to Cognitive Robotics www.cognitiverobotics.net Version History Version 1 26/01/2021 Version 1.1 06/02/2021 CR02-02: Slides 5 and 6 added a note on creating a ROS workspace CR02-02: Slide 9 corrected a slide reference CR01-03: Slide 7 fixed typo CR03-03: Added slide 5 CR03-04: Removed slides 21-37 as these contain the material in CR03-05 Version 1.2 17/02/2021 CR01-04: Slides 12 and 13 changed github organization name to cognitive-robotics-course CR02-02: Changed dvernon to mystudentid CR03-01: Slide 1 title changed to relative position estimation using inertial sensors CR03-01: Added sides with videos for a sample of robots, e.g. Picker, Atlas, Turtlebot, Zipline CR03-02: Slide 1 title changed to relative position estimation using odometry CR03-02: Slide 23 added note on change in orientation bing the same in both frames of reference CR03-02: Slide 24 added note on orientation at time t in the inertial frame of reference CR03-02: Slide 24 removed Delta theta from diagram CR03-02: Slide 34 change note on pi - (pi – Delta theta)/2) to pi/2 - (pi – Delta theta)/2) CR03-03: Slide 2 change (xR, yR) to (xr, yr) to avoid confusion with axes in robot frame of reference XR, YR CR03-03: Slide 3 changed second instance of L2 = (x2, y2) to L3 = (x3, y3) CR03-03: Slide 4 added a hint to the question CR03-03: Slide 5 added an answer to the question CR03-03: Slide 7 added a note about the two circles CR03-03: Slide 8 changed text to make it explicit that the goal is to measure angles CR03-03: Slide 9 changed text to make it explicit that the goal is to measure angles CR03-05: Slide 6 changed "multiplying by time" to "multiplying by time elapsed" CR03-05: Slide 13 changed "both errors" to "all three errors" CR04-06: Slide 2 deleted CR04-03: Slides 17-19 added on alternative conventions for end-effector frame CR04-06: Slide 1 corrected lecture number (4 -> 6) Version 1.3 09/03/2021 CR02-02: Slides 10, 17, 30, 41 modified to use CMake directives that avoid name pollution CR05-01: Slides 27, 29, 30 cosmetic change in colour of chromatic axis label and arrow; rearranged slides 50-54 CR05-02: Slide 2 new note on OpenCV 3.3 on Ubuntu with ROS; Slide 3, 9, 13, 17 refer to example application, not project Added instructions on how to run the examples CR05-03: Slide 9 repositioned arrow and 255 label; Slides 38, 40, 43, 50, 52 refer to example application, not project Added instructions on how to run the examples CR05-04: Added instructions on how to run the examples; tidied up the maths on slides 8-13 CR05-05: Slide 15, changed incorrect superscript u to v Slide 20, changed incorrect subscript 6 to 7 Added instructions on how to run the examples CR05-06: Added instructions on how to run the examples and tidied up the alignment of the text CR05-07: Tidied up the alignment of the text and re-typeset the mathematical equations CR05-07: Tidied up the alignment of the text Version 1.4 21/04/2021 CR04-03: Added Slide 20 with the CRAM convention for embedding a frame in an end-effector CR05-01: Cosmetic changes CR06-01: Added introductory slide on the scope of Module 6; added slide at the end containing references, added slide on dynamical systems; tidied up slides generally CR06-02: Removed some unnecessary slides on phylogeny and ontogeny; tidied up slides generally CR06-03: Tidied up slides generally CR06-04: Updated slide 10 to explain Flanagan's video on goal-directed gaze; tidied up slides generally CR07-02: Updated list of video on Slide 47 and added Slide 48 with additional videos CR07-03: Tidied up Slides 5-7 CR08-01: Added Slides 24-26 on the backquote function CR08-02: Added a note on the function null on Slide 12 Version 1.5 2/05/2021 CR04-02: Slide 16 and 17 added with CRAM quaternion notation and examples CR09-01: Slides 22 and 23 updated with correct handle-failure function and syntax CR09-02: Slide 20 updated with correct syntax for make-designator (` instead of ') CR11-01: New version based on the zero prerequisites tutorial CR11-02: New version based on the zero prerequisites tutorial CR11-03: New version based on the zero prerequisites tutorial CR11-04: New lecture on defining a new grasp, also based on the zero prerequisites tutorial Version 1.6 3/06/2021 CR07-03: New version of the CRAM cognitive architecture diagram CR07-04: New version of the CRAM cognitive architecture diagram For further details, send an email to David Vernon (david@vernon.eu)