This project was more about exploring novel solutions and approaches to the design of a rare tool than a practice in working through compromises. In robotic design, this means a design should account for visual meaning (aesthetics), the goal of the robot (functionality), how long it will last (durability), and how researchers will interact with the robot (usability). The design of the robot was a collaboration between New Jersey Institute of Technology and Seoul National University.Ī well designed object simultaneously takes into account the aesthetics, functionality, durability, and usability. The torque-control and compliance algorithms controlling the robot help make human-robot interaction safer by limiting the energy put into the motors to only what is required for the expected tasks. It is 1.8 meters, 100KG and 33 degrees of freedom. TOCABI stands for Torque-controlled CompliAnt BIped. This type of virtual-to-real avatar has some important applications, including remote-work and one day enabling people with all sorts of physical disabilities to interact with the built environment in new ways. The cameras and audio equipment let the user have conversations in real-time, with abstracted facial animations created from the live audio of the operators voice. This lets a user enter into a "virtual" space, which is in fact a real-world streamed to their VR headset, and with hand tracking and foot pedals, can remotely control the robot by moving themselves and interacting with their virtual space. Unlike many of the animatronic robots available today, TOCABI is capable of walking and interacting with the environment in meaningful ways. The robot is capable of both autonomous control and being a remote avatar controlled by a person in VR. TOCABI is a life-size humanoid robot designed from the ground up for research in humanoid robotics. The course includes a tremendous number of real world applicatoins, such as to the physics of color, music and communication.Results Announced for Community Choice Prize See All Winners TOCABI Physics 15c, The Physics of Waves is a sophomore level course for physics majors, the third in the sequence after mechanics and electromagnetism. Here are the lecture notes for the Spring 2021 version of my course:Īnd a compiled version of all the lectures. Physics 181, Statistical Mechanics, is an undergraduate course for physics concentrators. More information about my Quantum Field Theory book can be found at My course focuses on modern methods, such as effective field theories and the renormalization group. My approach to field theory is somewhat different from Coleman's, and most other field theory classes, in that I try to keep a tight focus on connection to experiment. Some of Coleman's lectures can be found here. It was famously taught by Sidney Coleman for around 3 decades. The introductory quantum field theory course at Harvard has a long history. The quantum field theory notes have been incorporated into a textbook Quantum Field Theory and the Standard Model, I have done so for Quantum Field Theory (Physics 253a,b/254), Waves (Physics 15c), and Statistical Mechanics (Physics 181). When I teach, I like to write detailed lecture notes for my courses. I teach graduate and undergraduate students.
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