CS223A : Introduction to Robotics, Winter 2016
Class : Mon, Wed 3.00-4.20pm. Gates B3.
Course Reader available at the Bookstore.
Office Hours location: Gates 119/120. (AI Lab Open Area / Fishbowl.)
This introduction to the basic modeling, design, planning, and control of robot systems provides a solid foundation for the principles behind robot design. You will learn the basic methodologies and tools in robotics research and applications to move forward and experiment further in the robotics field.
Staff
Oussama Khatib
Instructor
Office hours : TBD
Webpage
Gerald Brantner
Course Assistant
Office hours : TBD
Shameek Ganguly
Course Assistant
Office hours : TBD
Timeline
| Date | Lecture | Handouts | Homework (all due @ 4pm. Box in front of Gates 144) |
|---|---|---|---|
| Mon, Jan 4 | Introduction & Course Review | ||
| Wed, Jan 6 | Spatial descriptions 1 | ||
| Mon, Jan 11 | Spatial descriptions 2 (Guest Lecturer: Torsten Kröger) | ||
| Wed, Jan 13 | Forward Kinematics 1 & 2 (Guest Lecturer: Torsten Kröger) | ||
| Mon, Jan 18 | Holiday (Martin Luther King) | ||
| Wed, Jan 20 | Vision in Robotics (Guest Lecturer: Silvio Savarese) | ||
| Mon, Jan 25 | Jacobians | ||
| Wed, Jan 27 | Jacobians: Velocities | ||
| Mon, Feb 1 | Jacobians: Explicit Form | ||
| Wed, Feb 3 | Jacobians: Static Forces | ||
| Wed, Feb 3 | Review 1 Group I (Time TBD, Gates 119) | ||
| Mon, Feb 8 | Inverse Kinematics (Guest Lecturer: Torsten Kröger) | ||
| Mon, Feb 8 | Review 1 Group II (Time TBD, Gates 119) | ||
| Wed, Feb 10 | Trajectory Generation (Guest Lecturer: Torsten Kröger) | ||
| Mon, Feb 15 | Holiday (President’s Day) | ||
| Wed, Feb 17 | Midterm Examination (in class) | ||
| Mon, Feb 23 | Dynamics: Acceleration and Inertia | ||
| Wed, Feb 24 | Dynamics: Explicit Form | ||
| Mon, Feb 29 | Control: PID control | ||
| Wed, Mar 2 | Control: Joint space control | ||
| Mon, Mar 7 | Control: Operational space formulation & Force control | ||
| Mon, Mar 7 | Review 2 Group I (Time TBD, Gates 119) | ||
| Wed, Mar 9 | Advanced Topics | ||
| Wed, Mar 9 | Review 2 Group II (Time TBD, Gates 119) | ||
| Mon, Mar 14 | Final Examination (Time TBD) |
Grading
| Component | Contribution to Grade |
|---|---|
| Homework | 30% |
| Midterm | 25% |
| Final | 45% |
| Total | 100% |