Course Schedule 🗓️
The following breakdown is tentative.
1. Robot Operating System
- Aug 21
Introduction and Overview
- Aug 23
ROS Tutorials
- Aug 25
ROS Tutorials and Examples
- Aug 28
ROS Tutorials and Examples Continued
HW 1 Release
2. Robot Kinematics
- Aug 30
Introduction to Robot Kinematics, Mechanisms, and Rigid-body motion (2D)
- Sep 1
Mobile Robot Motion and Constraints
- Sep 4
Labor day - No class
- Sep 6
Mobile Robot Steering Kinematics
- Sep 8
3D Rigid-body motion: Rotation Matrices
- Sep 11
3D Rigid-body motion: Rotation Matrices continued, Euler Angles
HW 2.1 Release
- Sep 13
3D Rigid-body motion: Axis-Angle and Quaternions
HW 1 Due
- Sep 15
3D Rigid-body motion: Properties of Rotations and Homogeneous Transformations
- Sep 18
Robot Arms: Configuration space and Task space
- Sep 20
DH Parameters
- Sep 22
DH Parameters continued
HW 2.2 Release
- Sep 25
DH Parameters and Forward Kinematics
- Sep 27
Forward Kinematics continued
HW 2.1 Due
- Sep 30
Inverse Kinematics
- Oct 2
Inverse Kinematics continued
3. State Estimation
- Oct 4
Introduction to State Estimation and Probability Fundamentals
HW 2.2 Due
- Oct 6
Bayesian Filtering
- Oct 9
Fall break + Indigenous People’s Day - No class
- Oct 11
Kalman Filtering
HW 3.1 Release
- Oct 13
Kalman Filtering continued
- Oct 16
Particle Filtering
HW 3.2 Release
- Oct 18
Particle Filtering continued
4. Motion Planning
- Oct 20
Introduction to Planning
- Oct 23
Graph-based Methods
- Oct 25
Graph-based Methods continued
- Oct 27
Sampling-based Motion planning
HW 4 Release
- Oct 30
Sampling-based Motion planning continued
5. Controls
- Nov 1
Introduction to Feedback Control
HW 3 Due
- Nov 3
Restorative Day - No class
- Nov 6
Classical Control: PID
- Nov 8
PID Continued
- Nov 10
Pure Pursuit Control
- Nov 13
Stability of Control Systems
- Nov 15
State-Space Representation
HW 4 Due
- Nov 17
Model Predictive Control (MPC)
HW 5 and Final Project Release
- Nov 20
Optimal Control: Linear-Quadratic Regulator (LQR)
- Nov 22
Thanksgiving holiday - No class
- Nov 24
Thanksgiving holiday - No class
- Nov 27
LQR continued
- Nov 29
Special Topics: Intro to Assistive Robotics
- Dec 1
Special Topics: Building Caregiving Robots
- Dec 4
Robotics Lab Tour: EmPRISE Lab
HW5 and Final Project due