Course Information
Term: Fall 2023
Class Level: Graduate
Activity Type: Lecture
Days & Times: Monday & Wednesday 4:00 PM – 5:15 PM
Location: HH 2.502
Instructor: Prof. Yu Xiang
Office Location: ECSS 4.702
Office Hours: Monday & Wednesday 2:30PM – 3:30 PM
Teaching Assistant: Jishnu P
Office Hours: Tuesday 1:00PM – 2:00 PM
All the course materials can be found here.
Course Description
Theory and practice of robotics. Provides in-depth overview of robot manipulation and robot navigation, including kinematics, statics, and dynamics of robot manipulators, motion planning, state estimation, environment mapping and robot control.
Textbooks
Kevin M. Lynch and Frank C. Park. Modern Robotics: Mechanics, Planning, and Control. 1st Edition. (PDF)
ISBN-13: 978-1107156302
ISBN-10: 1107156300
Grading Policy
- Homework (50%)
- Assignment 1 (10%)
- Assignment 2 (10%)
- Assignment 3 (10%)
- Assignment 4 (10%)
- Assignment 5 (10%)
- Team Project (45%)
- Project proposal (5%)
- Project mid-term report (10%)
- Project presentation (15%)
- Project final report (15%)
- In-class Activity (5%)
Project
- Project proposal description (PDF)
- Project mid-term report requirement (PDF)
- Project presentation and final report requirement (PDF)
Homework
- Assignment 1 (PDF)
- Assignment 2 (PDF, programming)
- Assignment 3 (PDF, programming)
- Assignment 4 (PDF, programming)
- Assignment 5 (PDF, programming)
Lectures
| Date | Topic |
| Week 1, 8/21, Lecture 1 | Introduction to Robotics (slides) |
| Week 1, 8/23, Lecture 2 | Configuration Space (slides) |
| Week 2, 8/28, Lecture 3 | Task Space, Workspace and Introduction to ROS Installation of ROS in Docker (slides) |
| Week 2, 8/30, Lecture 4 | 2D Rigid-Body Motions and Rotation Matrices (slides) |
| Week 3, 9/4 | Labor Day |
| Week 3, 9/6, Lecture 5 | Course Project Description (slides) |
| Week 4, 9/11, Lecture 6 | Angular Velocities and Exponential Coordinates of Rotations (slides) |
| Week 4, 9/13, Lecture 7 | Matrix Logarithm of Rotations and Homogeneous Transformation Matrices (slides) |
| Week 5, 9/18, Lecture 8 | Twists (slides) |
| Week 5, 9/20, Lecture 9 | Screw Axes and Exponential Coordinates of Rigid-Body Motions (slides) |
| Week 6, 9/25, Lecture 10 | Forward Kinematics and Denavit-Hartenberg Parameters (slides) |
| Week 6, 9/27, Lecture 11 | Forward Kinematics and Product of Exponentials Formula (slides) |
| Week 7, 10/2, Lecture 12 | Guest Lecture (due to ICCV Traveling): Grasp Planning by Ninad Arun Khargonkar (slides) |
| Week 7, 10/4, Lecture 13 | TA Lecture (due to ICCV Traveling): Solutions for HW1 and HW2 by Jishnu P |
| Week 8, 10/9, Lecture 14 | Velocity Kinematics (slides) |
| Week 8, 10/11, Lecture 15 | Inverse Kinematics (slides) |
| Week 9, 10/16, Lecture 16 | Motion Planning: Overview and Foundations (slides) |
| Week 9, 10/18, Lecture 17 | Motion Planning: Algorithms (slides) |
| Week 10, 10/23, Lecture 18 | Dynamics of a Single Rigid Body (slides) |
| Week 10, 10/25, Lecture 19 | Dynamics of a Single Rigid Body and Statics (slides) |
| Week 11, 10/30, Lecture 20 | Dynamics of Open Chains (slides) |
| Week 11, 11/1, Lecture 21 | Robot Control: Motion Control with Velocities (slides) |
| Week 12, 11/6, Lecture 22 | CoRL Traveling |
| Week 12, 11/8, Lecture 23 | CoRL Traveling |
| Week 13, 11/13, Lecture 24 | Robot Control: Motion Control with Velocities, Forces or Torques (slides) |
| Week 13, 11/15, Lecture 25 | Robot Control: Motion Control, Force Control, Impedance Control (slides) |
| Week 14, 11/20 | Fall Break |
| Week 14, 11/22 | Fall Break |
| Week 15, 11/27, Lecture 26 | Solutions for HW3, HW4 and HW5 |
| Week 15, 11/29, Lecture 27 | IRVL Visit |
| Week 16, 12/4 | Project Presentation I Group 1: Semantic Exploration and Mapping of Unknown Environments for Mobile Robots (slides, demo) Group 2: GOAT: Autonomous Weed Detection and Removal System (slides, demo) Group 3: Robotic Arm: Shape-Based Object Recognition and Manipulation (slides, demo) Group 4: Autonomous Sorting of Trash Objects Based on Structure using Gazebo Robot Simulation (slides, demo) Group 5: Language Guided Manipulation (slides, demo) Group 6: Development of a Robotic System for Efficient Item Delivery in Healthcare (slides, demo) Group 7: Language Guided Manipulation System (slides, demo) Group 8: MediAssist: Robotic Medication Companion for Elderly Care (slides, demo) Group 9: Image-Recognition Based Robotic Arm Screw System (slides, demo) Group 10: RoboServe: An Autonomous Food-Serving Robot with Mobile Manipulation (slides, demo) |
| Week 16, 12/6 | Project Presentation II Group 11: Pitcher This: A ROS-Based Robotic Arm for Autonomous Baseball Picking (slides, demo) Group 12: GraspBot Navigator (slides, demo) Group 13: Reinforcement Learning for Targeted 3D Object Top-Down Grasping with Emphasis on Selective Shape Manipulation (slides, demo) Group 14: The Autonomous Navigator and Object Grasper (slides, demo) Group 15: Reinforcement Learning for Vision-based Robot Grasping (slides, demo) Group 16: From Speech to Actions: Speech-based Robot Manipulation and Navigation System using Natural Language Processing (slides, demo) Group 17: Autonomous Kitchen Assistant: Prototype for Model Based Grasping (slides, demo) Group 18: Large Language Model Based Virtual Robot Pick-Place Manipulation (slides, demo) Group 19: Object Selection from Table: A Multimodal Approach Using Text Input (slides, demo) Group 20: Training Robots for Object Grasping (slides, demo) |