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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:

Jan. 11IntroductionS&S: Chapter 1
Jan. 13Matrix Algebra RefresherS&S: Appendix A
Jan. 20Introduction to the NAO robotRecording
Jan. 25Basic Linear Control Theory IBook Chapters
Jan. 27Basic Linear Control Theory IIBook Chapter
Feb. 1Frequency Domain Analysis, Introduction to Matlab/SimulinkBook Chapter,
Matlab/Simulink Introduction
Feb. 3Trajectory PlanningS&S: Chapter 5,
Feb. 8Coordinate TransformationsS&S: Chapter 2.1-2.7
Feb. 10Direct KinematicsS&S: Chapter 2.7-2.10 ,
Feb. 17Introduction to the Robotics Operating System (ROS)Recording
Feb. 22Physical Simulation and Real-Time ControlManual for programming with SL (a bit outdated),
Feb. 24Inverse KinematicsS&S: Chapter 2.11, 3.1-3.7,
Feb. 29Dynamics: Lagrangian FormulationS&S: Chapter 4.1-4.4 ,
Mar. 2Dynamics: Newton-Euler Formulation and SoftwareToolsS&S: Chapter 4.5-4.8,
Mar. 7Biped Locomotion 
Mar. 9Nonlinear ControlS&S: Chapter 6,
Mar. 14Spring Break 
Mar. 16Spring Break 
Mar. 21Kalman FilteringHandout, More info on Kalman Filtering,
Mar. 23Force ControlS&S: Chapter 7,
Mar. 28Sensors & Actuators, FilteringS&S: Chapter 8,
Mar. 30Adaptive ControlRecording
April 4Project DiscussionsRecording
April 6Floating Base Control 
April 11An Overview of Vision for Robotics 
Apr. 13Optimal ControlRecording
April 188-11am Lab time in RTH 422 
April 208-11am Lab time in RTH 422 
April 25Summary of Class, Discussion of Final Quiz, Videos of Projects 
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

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 & 22Drawing on paperTBA
April 4 & 5Stepping BehaviorTBA
April 11 & 12Using sonar for distance navigationTBA
April 25 & 26Project related labsTBA

Schedule of Homeworks:

DateDue DateLink to Homework
Feb. 7Feb. 19Homework 1
Mar. 9Feb. 21Homework 2
Apr. 2Apr. 15Homework 3
April 23May 9Homework 4


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 May 04, 2016, at 09:29 AM