The School of Computer Science (SCS) at Carnegie Mellon University in Pittsburgh, Pennsylvania, US is a school for computer science established in 1988. It has been consistently ranked among the top computer science programs over the decades. As of 2022 U.S. News & World Report ranks the graduate program as tied for second with Stanford University and University of California, Berkeley. It is ranked second in the United States on Computer Science Open Rankings, which combines scores from multiple independent rankings.
In computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics. However, the reverse operation is, in general, much more challenging.
Inverse dynamics is an inverse problem. It commonly refers to either inverse rigid body dynamics or inverse structural dynamics. Inverse rigid-body dynamics is a method for computing forces and/or moments of force (torques) based on the kinematics (motion) of a body and the body's inertial properties. Typically it uses link-segment models to represent the mechanical behaviour of interconnected segments, such as the limbs of humans or animals or the joint extensions of robots, where given the kinematics of the various parts, inverse dynamics derives the minimum forces and moments responsible for the individual movements. In practice, inverse dynamics computes these internal moments and forces from measurements of the motion of limbs and external forces such as ground reaction forces, under a special set of assumptions.
Shakey the Robot was the first general-purpose mobile robot able to reason about its own actions. While other robots would have to be instructed on each individual step of completing a larger task, Shakey could analyze commands and break them down into basic chunks by itself.
Kenneth Yigael Goldberg is an American artist, writer, inventor, and researcher in the field of robotics and automation. He is professor and chair of the industrial engineering and operations research department at the University of California, Berkeley, and holds the William S. Floyd Jr. Distinguished Chair in Engineering at Berkeley, with joint appointments in Electrical Engineering and Computer Sciences (EECS), Art Practice, and the School of Information. Goldberg also holds an appointment in the Department of Radiation Oncology at the University of California, San Francisco.
Cognitive Robotics or Cognitive Technology is a subfield of robotics concerned with endowing a robot with intelligent behavior by providing it with a processing architecture that will allow it to learn and reason about how to behave in response to complex goals in a complex world. Cognitive robotics may be considered the engineering branch of embodied cognitive science and embodied embedded cognition, consisting of Robotic Process Automation, Artificial Intelligence, Machine Learning, Deep Learning, Optical Character Recognition, Image Processing, Process Mining, Analytics, Software Development and System Integration.
Motion planning, also path planning is a computational problem to find a sequence of valid configurations that moves the object from the source to destination. The term is used in computational geometry, computer animation, robotics and computer games.
The bow leg is a highly resilient robotic leg being developed for running robots at Carnegie Mellon University's Robotics Institute. The key technology is the fiber-reinforced composite (FRC) spring that bends like a bow to store elastic energy.
'Ballbot in Wandee and the gang's comic books is reviver robot
Modular self-reconfiguring robotic systems or self-reconfigurable modular robots are autonomous kinematic machines with variable morphology. Beyond conventional actuation, sensing and control typically found in fixed-morphology robots, self-reconfiguring robots are also able to deliberately change their own shape by rearranging the connectivity of their parts, in order to adapt to new circumstances, perform new tasks, or recover from damage.
Randal E. Bryant is an American computer scientist and academic noted for his research on formally verifying digital hardware and software. Bryant has been a faculty member at Carnegie Mellon University since 1984. He served as the Dean of the School of Computer Science (SCS) at Carnegie Mellon from 2004 to 2014. Dr. Bryant retired and became a Founders University Professor Emeritus on June 30, 2020.
Legged robots are a type of mobile robot which use articulated limbs, such as leg mechanisms, to provide locomotion. They are more versatile than wheeled robots and can traverse many different terrains, though these advantages require increased complexity and power consumption. Legged robots often imitate legged animals, such as humans or insects, in an example of biomimicry.
Howie Choset is a professor at Carnegie Mellon University's Robotics Institute. His research includes snakebots, or robots designed in a segmented fashion to mimic snake-like actuation and motion, demining, and coverage. His snake robots have also been used in surgical applications for diagnosis and tumor removal; nuclear power plant inspection, archaeological excavations, manufacturing applications and understanding biological behaviors of a variety of animals.
A rapidly exploring random tree (RRT) is an algorithm designed to efficiently search nonconvex, high-dimensional spaces by randomly building a space-filling tree. The tree is constructed incrementally from samples drawn randomly from the search space and is inherently biased to grow towards large unsearched areas of the problem. RRTs were developed by Steven M. LaValle and James J. Kuffner Jr. They easily handle problems with obstacles and differential constraints and have been widely used in autonomous robotic motion planning.
AutomationML is a neutral data format based on XML for the storage and exchange of plant engineering information, which is provided as an open standard. The goal of AutomationML is to interconnect the heterogeneous tool landscape of modern engineering tools in their different disciplines, e.g. mechanical plant engineering, electrical design, HMI development, PLC and robot control.
D* is any one of the following three related incremental search algorithms:
Matthew Thomas Mason is an American roboticist and the former Director of the Robotics Institute at Carnegie Mellon University. Mason is a researcher in the area of robotic manipulation, and is the author of two highly cited textbooks in the field.
Robot Operating System is an open-source robotics middleware suite. Although ROS is not an operating system (OS) but a set of software frameworks for robot software development, it provides services designed for a heterogeneous computer cluster such as hardware abstraction, low-level device control, implementation of commonly used functionality, message-passing between processes, and package management. Running sets of ROS-based processes are represented in a graph architecture where processing takes place in nodes that may receive, post, and multiplex sensor data, control, state, planning, actuator, and other messages. Despite the importance of reactivity and low latency in robot control, ROS is not a real-time operating system (RTOS). However, it is possible to integrate ROS with real-time computing code. The lack of support for real-time systems has been addressed in the creation of ROS 2, a major revision of the ROS API which will take advantage of modern libraries and technologies for core ROS functions and add support for real-time code and embedded system hardware.
Any-angle path planning algorithms are pathfinding algorithms that search for a Euclidean shortest path between two points on a grid map while allowing the turns in the path to have any angle. The result is a path that cuts directly through open areas and has relatively few turns. More traditional pathfinding algorithms such as A* either lack in performance or produce jagged, indirect paths.
