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Teaching » Syllabus: Introduction to Robotics 2014

All downloadable documents are Adobe Acrobat PDF documents. You can obtain Acrobat for free by following the link from the Adobe Icon.

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

You can watch the course under the following Streaming Link.

DateTopicAssignments
Jan. 13IntroductionS&S: Chapter 1
Recording
Jan. 15Matrix Algebra RefresherS&S: Appendix A
Recording
Jan. 20Basic Linear Control Theory IBook Chapters
Recording
Jan. 22Basic Linear Control Theory IIBook Chapter
Recording
Jan. 27Introduction to the NAO robotRecording
Jan. 29Frequency Domain Analysis, Introduction to Matlab/SimulinkBook Chapter,
Matlab/Simulink Introduction
Recording
Homework 1
Feb. 3Trajectory PlanningS&S: Chapter 5,
Recording
Feb. 5Physical Simulation and Real-Time ControlManual for programming with SL (a bit outdated),
Recording
Feb. 10Introduction to the Robotics Operating System (ROS)Recording
Feb. 12Coordinate TransformationsS&S: Chapter 2.1-2.7
Recording
Feb. 17Direct KinematicsS&S: Chapter 2.7-2.10 ,
Recording
Feb. 19Inverse KinematicsS&S: Chapter 2.11, 3.1-3.7,
Recording
Feb. 24Dynamics: Lagrangian FormulationS&S: Chapter 4.1-4.4 ,
Recording
Feb. 26Dynamics: Newton-Euler Formulation and SoftwareToolsS&S: Chapter 4.5-4.8,
Recording
Mar. 3Nonlinear ControlS&S: Chapter 6,
Recording
Mar. 5Force ControlS&S: Chapter 7,
Recording
Mar. 10Sensors & Actuators, FilteringS&S: Chapter 8,
Recording,
Homework 2
Mar. 12Optimal ControlRecording
Mar. 17Spring Break 
Mar. 19Spring Break 
March 24Kalman FilteringHandout, More info on Kalman Filtering,
Recording,
Homework 3
March 26Adaptive ControlRecording
Mar. 31Optimal ControlRecording
April 2Kalman FilteringHandout, More info on Kalman Filtering,
Recording,
Homework 3
April 7Adaptive ControlRecording
April 9Project DiscussionsRecording
April 14Attend Future of Robotics Symposium 
April 16Project DiscussionsRecording,
Homework 4
April 21No Class -- Work on Project 
April 23No Class -- Work on Project 
April 28Summary of Class, Discussion of Final Quiz 
April 30Final Quiz (closed book, all material of the course)9-10:30am (normal class hours) in HNB 100 and HNB 107

TO BE UPDATED YET

Feb. 10Robot Labs with NAO in RTH422 
Feb. 12Robot Labs with NAO in RTH422 
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 March 11, 2015, at 03:51 PM