From Computational Learning and Motor Control Lab

Teaching: CS 545 Introduction to Robotics Fall 2018


Time and Place:

Monday & Wednesday 8:00-9:20 in SSL150 and 9:30-10:50 in HNB100


Course Description:

This course introduces fundamental concepts in Robotics. In the first half of the course, basic concepts will be discussed, including coordinate transformation, kinematics, dynamics, Laplace transforms, equations of motion, feedback and feedforward control, and trajectory planning. These topics will be exemplified with simulation studies using our own simulator. The second half of the course will focus on applying the knowledge from the initial lectures to various motor systems, including manipulators, artificial eye systems, locomotory systems, and mobile robotics. Some lectures will be replaced/supplemented with labs in which the course participant will learn to program a small humanoid robot.

Class Format:

Initially, the course has a lecture format. Later during the course, labs will be added by splitting the course participants into small groups. There is NO midterm and ONE final exam.


2010 Grade Distribution:

Homework Late Policy

10% credit subtraction per late day


Basic knowledge in linear algebra (matrices and vectors), calculus, programming in C/C++ or any other language, or permission by instructor.


Primary textbook:

Additional recommended books:


Dr. Stefan Schaal
University of Southern California
Ronald Tutor Hall RTH-401
Los Angeles, CA 90089-2905
phone: (213) 740 9418
email: sschaal [snail] usc [period] edu -> mailto:%20sschaal [snail] usc [period] edu


Zhe Su
email: zhesu [snail] usc [period] edu -> mailto:%20zhesu [snail] usc [period] edu

Giovanni Sutanto
email: gsutanto [snail] usc [period] edu -> mailto:%20gsutanto [snail] usc [period] edu

Office Hours and Homework-related Questions:

Office hours are held every Mondays and Wednesdays, 11am-12pm, at RTH 422.

Course Producers (CPs) in-charge for Homework 1 and 3 are (please direct all Homework1 and Homework3-related questions to these two CPs):

Aniruddh Gopinath Puranic
email: puranic [snail] usc [period] edu -> mailto:%20puranic [snail] usc [period] edu

Yezhen Zhao
email: yezhenzh [snail] usc [period] edu -> mailto:%20yezhenzh [snail] usc [period] edu

Course Producers (CPs) in-charge for Homework 2 and 4 are (please direct all Homework2 and Homework4-related questions to these two CPs):

Cheng Cheng
email: chen260 [snail] usc [period] edu -> mailto:%20chen260 [snail] usc [period] edu

Yingxiang Liu
email: yingxian [snail] usc [period] edu -> mailto:%20yingxian [snail] usc [period] edu


Wednesdays and Thursdays 4-6pm according to specific schedule (see syllabus at the bottom) in RTH 422 and RTH 406


The diversity of the participants in this course is a valuable source of ideas, problem solving strategies, and engineering creativity. I encourage and support the efforts of all of our students to contribute freely and enthusiastically. We are members of an academic community where it is our shared responsibility to cultivate a climate where all students and individuals are valued and where both they and their ideas are treated with respect, regardless of their differences, visible or invisible.

Academic Integrity:

All students are required to abide by the USC code of Academic Integrity. Violation of that Code will be dealt with as described in SCAMPUS. If you have any questions about the responsibilities of either students, faculty, or graders under this policy, contact the instructor or the Office of Student Conduct.

Disabilities and Academic Accomodations:

Students requesting academic accomodations based on a disability are required to register with Disability Services and Programs (DSP) each semester. A letter of verification for approved accomodations can be obtained from DSP when adequate documentaion is filed. Please be sure the letter is delivered to the instructor (or TA) as early in the semester as possible. DSP is open Monday-Friday, 8:30-5:00. The office is in Student Union 301 and their phone number is (213) 740-0776.

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