From Computational Learning and Motor Control Lab

Teaching: Syllabus: Introduction to Robotics 2018

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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. 8
IntroductionS&S: Chapter 1
Jan. 10
Matrix Algebra RefresherS&S: Appendix A
Jan. 17
Introduction to the NAO robotRecording
Jan. 22
Basic Linear Control Theory IBook Chapters
Jan. 24
Basic Linear Control Theory IIBook Chapter
Jan. 29
Frequency Domain Analysis, Introduction to Matlab/SimulinkBook Chapter,
Matlab/Simulink Introduction
Jan. 31
Introduction to the Robotics Operating System (ROS)Recording
Feb. 5
Trajectory PlanningS&S: Chapter 5,
Feb. 7
Coordinate TransformationsS&S: Chapter 2.1-2.7
Feb. 12
Direct KinematicsS&S: Chapter 2.7-2.10 ,
Feb. 14
Physical Simulation and Real-Time ControlManual for programming with SL (a bit outdated),
Feb. 21
Inverse KinematicsS&S: Chapter 2.11, 3.1-3.7,
Feb. 26
Dynamics: Lagrangian FormulationS&S: Chapter 4.1-4.4 ,
Feb. 28
Dynamics: Newton-Euler Formulation and SoftwareToolsS&S: Chapter 4.5-4.8,
Mar. 5
Nonlinear ControlS&S: Chapter 6,
Mar. 7
Biped Locomotion 
Mar. 12
Spring Break 
Mar. 14
Spring Break 
Mar. 19
Biped Locomotion 
Mar. 21
Force ControlS&S: Chapter 7,
Mar. 26
Sensors & Actuators, FilteringS&S: Chapter 8,
Mar. 28
Kalman FilteringHandout, More info on Kalman Filtering,
April 2
An Overview of Vision for Robotics 
April 4
Project DiscussionsRecording
April 9
Floating Base Control 
Apr. 11
Optimal ControlRecording
April 16
Adaptive ControlRecording
April 18
Summary of Class, Discussion of Final Quiz, Videos of Projects 
April 23
8-11am Lab time in RTH 422 
April 25
Final 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

TBAGetting known to the NAO robotUSC Nao Website
TBAWorking with the NAO simulatorInstructions for NAO Simulator
TBAObject manipulation-
TBADrawing on paper-
TBAProject related labs-

Schedule of Homeworks:

DateDue DateLink to Homework
Feb.14Feb.26Homework 1
March 20April 2Homework 2
March 30April 12Homework 3
April 17May 1Homework 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 

Schedule of Labs: (4-6pm)

TBAStepping BehaviorTBA
TBAUsing sonar for distance navigationTBA
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Page last modified on January 06, 2018, at 11:12 AM