Schedule
All assignments are due at 3:00pm.
| Date | Topic | Reading | Assignments |
|---|---|---|---|
| Fri, 30 Aug | Introduction and Overview, ROS Intro | ROS intro, pp 9–25 | |
| Mon, 2 Sep | No class – Labor Day | ||
| Wed, 4 Sep | Introduction and Overview, Robot Mechanisms | Ch 1 | |
| Topic 1 | Simulation | ||
| Fri, 6 Sep | Applications of Simulation | Ch 2.0–2.2 | |
| Mon, 9 Sep | ROS with Ross | ROS intro, Ch 3–4 | |
| Wed, 11 Sep | Numerical Methods | Ch 2.3.0–2.3.3 | |
| Fri, 13 Sep | Tips for new programmers | CP 1* and PS 1† due | |
| Topic 2 | Kinematics | ||
| Mon, 16 Sep | Rigid Body Abstraction | Ch 3.0–3.1 | |
| Wed, 18 Sep | Mobile Robot Motion and Constraints | Ch 3.2.0–3.2.1 | |
| Fri, 20 Sep | Mobile Robot Steering Kinematics | Ch 3.2.2 | PS 2 due |
| Mon, 23 Sep | Debugging strategies in ROS | ||
| Wed, 25 Sep | Rotations and Rotation Matrices | Ch 3.3.0–3.3.1 | |
| Fri, 27 Sep | Euler Angles, Axis-Angle, Quaternions | Ch 3.3.2–3.3.4 | PS 3 due |
| Mon, 30 Sep | Properties of Rotations | Ch 3.4 | |
| Wed, 2 Oct | Rigid Motions and Homogeneous Transforms | Ch 3.5 | CP 2 due |
| Fri, 4 Oct | Kinematic Chains | Ch 3.6 | PS 4 due |
| Mon, 7 Oct | DH Parameters | Ch 3.7 | |
| Wed, 9 Oct | Inverse Kinematics; Intro Velocity Kinematics | Ch 3.8–3.9.2 | |
| Fri, 11 Oct | In-class prelim | ||
| Mon, 14 Oct | No class – Fall Break | ||
| Wed, 16 Oct | The Jacobian | Ch 3.9.3–3.9.4 | |
| Topic 3 | Uncertainty | ||
| Fri, 18 Oct | Models of Uncertainty in Robotics | Ch 4.0–4.2 | |
| Mon, 21 Oct | Sensor and Actuator Characteristics | Ch 4.3 | |
| Wed, 23 Oct | Estimators | Ch 4.4–4.5 | CP 3 due |
| Fri, 25 Oct | Bayes’ Rule; Bayes Filters | Ch 4.6–4.7 | PS 5 due |
| Mon, 28 Oct | The Markov Assumption | Ch 4.8 | |
| Wed, 30 Oct | Entropy | Ch 4.9 | |
| Topic 4 | Optimization | ||
| Fri, 1 Nov | Potential Fields | Ch 5.0–5.1 | PS 6 due |
| Mon, 4 Nov | Trajectory Optimization | Ch 5.2 | |
| Wed, 6 Nov | Iterative Methods for Kinematics | ||
| Fri, 8 Nov | Constrained Optimization: Lagrange Multipliers | Ch 5.3.1 | PS 7 due |
| Mon, 11 Nov | Lagrange Multipliers in Robotics | ||
| Wed, 13 Nov | Constrained Optimization: Linear Programming | Ch 5.3.2 | CP 4 due |
| Fri, 15 Nov | Linear Programming Software | QP with CVXOPT |
|
| (reference) | |||
| Topic 5 | Control | ||
| Mon, 18 Nov | Principles of Control Design | Ch 6.0–6.1 | |
| Tue, 19 Nov | PS 8 due | ||
| Wed, 20 Nov | PID Control | Ch 6.2 | |
| Fri, 22 Nov | In-class prelim | ||
| Mon, 25 Nov | Position, Velocity, and Force Control | ||
| Wed, 27 Nov | No class – Thanksgiving Break | ||
| Fri, 29 Nov | No class – Thanksgiving Break | ||
| Mon, 2 Dec | Path-Following Control | Ch 6.3 | |
| Wed, 4 Dec | Controller Performance and Tuning | Ch 6.4 | |
| Fri, 6 Dec | Model-Predictive Control | Ch 6.5 | CP 5 due |
| Mon, 9 Dec | Stability | Ch 6.6 | PS 9 due |
| Fri, 20 Dec | Final Exam (take-home) due at 9:00am |
* CP = coding project
† PS = problem set