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)