Course Information
Term: Fall 2024
Class Level: Graduate
Activity Type: Lecture
Days & Times: Monday & Wednesday 1:00 PM – 2:15 PM
Location: ECSS 2.311
Instructor: Prof. Yu Xiang
Office Location: ECSS 4.702
Office Hours: Monday & Wednesday 3:00PM – 4:00 PM
Teaching Assistant: TBA
Office Hours: Tuesday 1:00PM – 2:00 PM
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
- Project mid-term report requirement
- Project presentation and final report requirement
Homework
- Assignment 1
- Assignment 2
- Assignment 3
- Assignment 4
- Assignment 5
Lectures
| Date | Topic |
| Week 1, 8/19, Lecture 1 | Introduction to Robotics |
| Week 1, 8/21, Lecture 2 | Configuration Space |
| Week 2, 8/26, Lecture 3 | Task Space, Workspace and Introduction to ROS Installation of ROS in Docker |
| Week 2, 8/28, Lecture 4 | 2D Rigid-Body Motions and Rotation Matrices |
| Week 3, 9/2 | Labor Day |
| Week 3, 9/4, Lecture 5 | Course Project Description |
| Week 4, 9/9, Lecture 6 | Angular Velocities and Exponential Coordinates of Rotations |
| Week 4, 9/11, Lecture 7 | Matrix Logarithm of Rotations and Homogeneous Transformation Matrices |
| Week 5, 9/16, Lecture 8 | Twists |
| Week 5, 9/18, Lecture 9 | Screw Axes and Exponential Coordinates of Rigid-Body Motions |
| Week 6, 9/23, Lecture 10 | Forward Kinematics and Denavit-Hartenberg Parameters |
| Week 6, 9/25, Lecture 11 | Forward Kinematics and Product of Exponentials Formula |
| Week 7, 9/30, Lecture 12 | Grasp Planning |
| Week 7, 10/2, Lecture 13 | TA Lecture: Solutions for HW1 and HW2 |
| Week 8, 10/7, Lecture 14 | Velocity Kinematics |
| Week 8, 10/9, Lecture 15 | Inverse Kinematics |
| Week 9, 10/14 | IROS Traveling |
| Week 9, 10/16 | IROS Traveling |
| Week 10, 10/21, Lecture 16 | Motion Planning: Overview and Foundations |
| Week 10, 10/23, Lecture 17 | Motion Planning: Algorithms |
| Week 11, 10/28, Lecture 18 | Dynamics of a Single Rigid Body |
| Week 11, 10/30, Lecture 19 | Dynamics of a Single Rigid Body and Statics |
| Week 12, 11/4, Lecture 20 | Dynamics of Open Chains |
| Week 12, 11/6, Lecture 21 | Robot Control: Motion Control with Velocities |
| Week 13, 11/11, Lecture 22 | Robot Control: Motion Control with Velocities, Forces or Torques |
| Week 13, 11/13, Lecture 23 | Robot Control: Motion Control, Force Control, Impedance Control |
| Week 14, 11/18 | Solutions for HW3, HW4 and HW5 |
| Week 14, 11/20 | IRVL Visit |
| Week 15, 11/25 | Fall Break |
| Week 15, 11/27 | Fall Break |
| Week 16, 12/2 | Project Presentation I |
| Week 16, 12/4 | Project Presentation II |