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Teaching » Syllabus: Introduction to Robotics 2016

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Note: This syllabus will be modified continuously to accommodate the progress and interests of the course participants!

Schedule of Lectures:

DateTopicAssignments
Jan. 11IntroductionS&S: Chapter 1
Recording
Jan. 13Matrix Algebra RefresherS&S: Appendix A
Recording
Jan. 20Introduction to the NAO robotRecording
Jan. 25Basic Linear Control Theory IBook Chapters
Recording
Jan. 27Basic Linear Control Theory IIBook Chapter
Recording
Feb. 1Frequency Domain Analysis, Introduction to Matlab/SimulinkBook Chapter,
Matlab/Simulink Introduction
Recording
Feb. 3Trajectory PlanningS&S: Chapter 5,
Recording
Feb. 8Physical Simulation and Real-Time ControlManual for programming with SL (a bit outdated),
Recording
Feb. 10Introduction to the Robotics Operating System (ROS)Recording
Feb. 17Coordinate TransformationsS&S: Chapter 2.1-2.7
Recording
Feb. 22Direct KinematicsS&S: Chapter 2.7-2.10 ,
Recording
Feb. 24Inverse KinematicsS&S: Chapter 2.11, 3.1-3.7,
Recording
Feb. 29Dynamics: Lagrangian FormulationS&S: Chapter 4.1-4.4 ,
Recording
Mar. 2Dynamics: Newton-Euler Formulation and SoftwareToolsS&S: Chapter 4.5-4.8,
Recording
Mar. 7Nonlinear ControlS&S: Chapter 6,
Recording
Mar. 9Force ControlS&S: Chapter 7,
Recording
Mar. 14Spring Break 
Mar. 16Spring Break 
Mar. 21Sensors & Actuators, FilteringS&S: Chapter 8,
Recording
Mar. 23Optimal ControlRecording
Mar. 28Kalman FilteringHandout, More info on Kalman Filtering,
Recording
Mar. 30Adaptive ControlRecording
April 4Floating Base Control 
April 6Project DiscussionsRecording
April 11Reinforcement Learning and Learning Control 
|April 13TBA 
April 18TBA 
April 20TBA 
April 25Q Summary of Class, Discussion of Final Quiz 
April 27Final Quiz (closed book, all material of the course)8-9:30am (normal class hours) in SSL 150 and 9:30-11:00 in HNB 100

Schedule of Labs: (4-6pm) Group Sign-up Page

DateTopicLinks
Feb. 1 & 2Getting known to the NAO robotUSC Nao Website
Feb. 8 & 9Working with the NAO simulatorInstructions for NAO Simulator
Feb. 29 & Mar. 1Object manipulationTBA
Mar. 21 &2 2Drawing on paperTBA
April 4 & 5Stepping BehaviorTBA
April 11 & 12Using sonar for distance navigationTBA
TBAProject related labsTBA

Schedule of Homeworks:

DateDue DateLink to Homework
Feb. 7Feb. 19Homework 1
TBATBAHomework 2
TBATBAHomework 3
TBATBAHomework 4

TO BE UPDATED YET

Jan. 31Case Study I: Stabilization of an Artificial Eye SystemManual for robot simulator
Feb. 9canceled 
Mar. 2Nonlinear ControlS&S: Chapter 6
Mar. 7Trajectory PlanningS&S: Chapter 5
Homework 2
Mar. 9Force ControlS&S: Chapter 7
Mar. 21Sensors & Actuators, FilteringS&S: Chapter 8
Mar. 23Optimal Control 
Mar. 28Kalman FilteringHandout, More info on Kalman Filtering
Mar. 30Adaptive Control 
April. 4Introduction to Real-Time Control with Xenomai,
Case Study: Gravity Compensation of a 7 DOF Robot Arm - Theory
WindriverSystems Handout,
Manual for programming the robot
Homework 3
April 6Case Study: Gravity Compensation of a 7 DOF Robot Arm - Implementation, Discussion of Robot ProjectTAR Archive with Robot Simulator,
Homework 4
April 11Labs/ Projects Preparation (no class) 
April 13Questions and Answer Section concerning Project 
April 18Labs/ Projects Preparation (no class) 
April 20Project presentations 
April 25Project presentations (continued), Q&A for Final Quiz Preparation, and videos of cool robotics research 
Designed by: Nerses Ohanyan & Jan Peters
Page last modified on February 07, 2016, at 07:21 PM