Course Information
Term: Fall 2024
Class Level: Graduate
Activity Type: Lecture
Days & Times: Monday & Wednesday 1:00 PM – 2:15 PM
Location: GR 3.420
Instructor: Prof. Yu Xiang
Office Location: ECSS 4.702
Office Hours: Monday & Wednesday 3:00PM – 4:00 PM
Teaching Assistant: Luis Felipe Casas Murillo
Office Hours: Monday 11:30AM – 12:30 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
Guest Lecturer
TBA
Lectures
| Date | Topic |
| Week 1, 8/25, Lecture 1 | Introduction to Robotics |
| Week 1, 8/27, Lecture 2 | Configuration Space |
| Week 2, 9/1 | Labor Day |
| Week 2, 9/3, Lecture 3 | Task Space, Workspace and Introduction to ROS Installation of ROS in Docker |
| Week 3, 9/8, Lecture 4 | Course Project Description |
| Week 3, 9/10, Lecture 5 | Rigid-Body Motions and Rotation Matrices |
| Week 4, 9/15, Lecture 6 | Angular Velocities and Exponential Coordinates of Rotations |
| Week 4, 9/17, Lecture 7 | Matrix Logarithm of Rotations and Homogeneous Transformation Matrices |
| Week 5, 9/22, Lecture 8 | Homogenous Transformations and Twists |
| Week 5, 9/24, Lecture 9 | Twist and Screw Axes |
| Week 6, 9/29, Lecture 10 | Screw Axes and Exponential Coordinates of Rigid-Body Motions |
| Week 6, 10/1, Lecture 11 | Forward Kinematics and Denavit-Hartenberg Parameters |
| Week 7, 10/6, Lecture 12 | Forward Kinematics and Product of Exponentials Formula |
| Week 7, 10/8, Lecture 13 | Product of Exponentials Formula and URDF |
| Week 8, 10/13, Lecture 14 | Velocity Kinematics I |
| Week 8, 10/15, Lecture 15 | Velocity Kinematics II |
| Week 9, 10/20, Lecture 16 | Grasp Planning, PhD Student Lecture (due to IROS Traveling) |
| Week 9, 10/22, Lecture 17 | ROS Navigation, PhD Student Lecture (due toIROS Traveling) |
| Week 10, 10/27, Lecture 18 | Inverse Kinematics |
| Week 10, 10/29, Lecture 19 | Dynamics of a Single Rigid Body |
| Week 11, 11/3, Lecture 20 | Dynamics of a Single Rigid Body and Statics |
| Week 11, 11/5, Lecture 21 | Dynamics of Open Chains |
| Week 12, 11/10, Lecture 22 | Motion Planning: Overview and Foundations |
| Week 12, 11/12, Lecture 23 | Motion Planning: Algorithms |
| Week 13, 11/17, Lecture 24 | Robot Control: Motion Control with Velocities |
| Week 13, 11/19, Lecture 25 | Homework Solutions by TA |
| Week 14, 11/24 | Fall Break |
| Week 14, 11/26 | Fall Break |
| Week 15, 12/1, Lecture 26 | Robot Control: Motion Control and Force Control |
| Week 15, 12/3 | Guest Lecture |
| Week 16, 12/8 | Project Presentation I |
| Week 16, 12/10 | Project Presentation II |