Course Calendar

Lecture recordings can be found here

Week 0

• Homework 0: Linear Algebra Review
• Discussion 0: Introduction Slides Video

No Class

8/23

Intro - History of Robotics

8/25

Logistics Slides
Lecture Slides

Week 1

• Lab 1: Introduction to ROS and Gazebo Starter Code Lab Doc
• Homework 1: Rotations and Reference Frames
• Discussion 1: Rotations Worksheet Video Solutions

Rotations of Rigid Bodies

8/30

Lecture Slides
Boardwork
Reading - MLS 2.1, 2.2

Rigid Body Transformations in R^3

9/1

Lecture Slides
Boardwork
Reading - MLS 2.3

Week 2

• Lab 2: Writing Publisher/Subscriber Nodes in ROS Starter Code Lab Doc
• Homework 2: Exponential Coordinates
• Discussion 2: Exponential Coordinates Worksheet Video Boardwork Solutions

Forward Kinematics of Robots

9/6

Lecture Slides
Boardwork
Reading - MLS 3.2

Forward Kinematics of Robots (cont.)

9/8

Lecture Slides
Boardwork
Reading - MLS 3.2

Week 3

• Lab 3: Forward Kinematics/Coordinate Transforms [Prelab] Lab Doc
• Lab 4: Lab Doc
• Homework 3: Forward Kinematics
• Discussion 3: Forward Kinematics Worksheet Video Solutions
• LOST Section 1: Rigid body transformation; Twist; Exponential Coordinates; Screw Notes Video [Solutions]
• [Potential Final Project Ideas] You can pitch your own ideas as well!

Forward Kinematics - Examples

9/13

Lecture Slides
[Boardwork]
Reading - MLS 3.2

Inverse Kinematics

9/15

Lecture Slides
[Boardwork]
Reading - MLS 3.2

Week 4

• Lab 4: Introduction to Mobile Robotics [Lab Doc] [Video]
• Homework 4: Inverse Kinematics
• Discussion 4: Inverse Kinematics Worksheet Video Boardwork Solutions
• LOST Section 2: Forward Kinematics Notes Video
• Practice Midterm I Exam Solutions

Inverse Kinematics(cont.)

9/20

Lecture Slides
[Boardwork]
Reading - MLS 3.3

Inverse Kinematics - Examples + Midterm Review

9/22

Midterm Review Slides
Lab Review Slides
Lecture Slides
[Boardwork]
Reading - MLS 3.3

Week 5

• Midterm I 09/29 in class
• LOST Section 3: Inverse Kinematics Notes Video
• Lab Buffer Week
• No new homework this week
• Discussion 5: Project Ideation [Project Guidelines] Intro slides Link to Gather Video

Vision - Image Formation and Features

9/27

Lecture Slides
[Boardwork]
Reading Textbook Chapter 1, Chapter 2

Midterm

9/29

Week 6

• Lab 5: Inverse Kinematics and Path Planning Lab Doc
• Lab 6: Vision Lab Doc
• Homework 5: Vision
• Discussion 6: Vision Worksheet Video Boardwork Solutions

Vision - Image Primitives and Correspondence

10/4

Lecture Slides
Reading Textbook Chapters 3, 4

Vision - Two View Geometry

10/6

Lecture Slides
Reading Textbook

Week 7

• Lab 6: Computer Vision [Lab Doc] Video
• Homework 6: Velocities
• Discussion 7: Velocities Worksheet Video Solutions
• LOST Section 4: Computer Vision Notes Video
• [Additional Velocities Notes from Isabella]

Velocities, Twists and Screws

10/11

Lecture Slides
Boardwork
Reading - MLS 2.4

Velocities, Twists, Screws & Manipulator Jacobian

10/13

Lecture Slides
Boardwork
Valmik’s Slides
Reading - MLS 2.4, 3.4

Week 8

• Lab Buffer Week; Project Proposal Feedback instead
• Homework 7: Jacobians & Singularities
• Discussion 8: Jacobians Worksheet Boardwork Video Solutions
• LOST Section 5: Velocities Notes Video

Motion planning with Jacobians

10/18

Lecture Slides
Boardwork
Reading - MLS 3.4

Singularities of Jacobians, Wrenches

10/20

Lecture Slides
Boardwork
Reading - MLS 3.4

Week 9

• Lab 7: Multiview Geometry and Feature Tracking Lab Doc Video
• Homework 8: Dynamics
  • PDF
• Discussion 9: Dynamics Worksheet Boardwork Solutions Video
• LOST Section 6: Jacobians Notes Video

Dynamics of Robots, Lagrangian Dynamics

10/25

Lecture Slides
Boardwork
Reading - MLS 4.2

Control of Robot Manipulators

10/27

Lecture Slides
Boardwork

Week 10

• Lab 8: Building Occupancy Grids with STDR Lab Doc
• Homework 9: Control
  • PDF
• Discussion 10: Control Worksheet Boardwork Solution Video
• LOST Section 7: Dynamics Notes Video

Control of Robots (cont.)

11/1

Lecture Slides
[Boardwork]
Reading

Control (cont.)

11/3

Lecture Slides
[Boardwork]
Reading

Week 11

• Lab Buffer Week
• Discussion 11: Midterm Peparation Worksheet Boardwork
• LOST Section 8: Controls Notes Video

Motion Planning Methods

11/8

Lecture Slides
[Boardwork]

Midterm II Review

11/10

Review Slides

Week 12

• Midterm II on 11/15 in class
• Discussion 12: Design
• Lab LOST Section Video Slides
• Calendar for TA/LA appointments</a>

Midterm II

11/15

Miscellaneous Topics I

11/17

Week 13

Miscellaneous Topics II

11/22

No Class

11/24

Week 14

Miscellaneous Topics III

11/29

Miscellaneous Topics IV

12/1

RRR Week: No Lectures

Week 16

Finals Week - Good luck on your exams!

Final Project Websites due

12/16

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