EECS C106A/206A | Introduction to Robotics

Fall 2023

Professors Koushil Sreenath and Shankar Sastry

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End of the Semester

Thanks for a great semester, and enjoy your break!

All Announcements

Course Calendar

All lecture slides and videos can be found on bCourses

Week 0

• Homework 0: Linear Algebra Review - due 8/29
• Python Bootcamp

No Class

8/22

Intro - History of Robotics

8/24

(Logistics Slides) (Lecture Slides)

Rigid Body Motion

Week 1

• Lab 1: Introduction to ROS (Starter Code) (Lab Doc) (Slides)
• Homework 1: Rotations and Reference Frames - due 9/6
  • Starter Code
• Discussion 1: Rotations (Worksheet) (Video) (Boardwork) (Solutions)

Rigid Body Motion

8/29

(Slides) (Boardwork)
SO(3) Group / Rigid Transformations
Reading - MLS 2.1, 2.2

Calculating Rigid Body Motion

8/31

(Slides) (Boardwork)
Exponential Map / Rodrigues / Euler Angles
Reading - MLS 2.3

Week 2

• Lab 2: Writing Publisher/Subscriber Nodes in ROS (Starter Code) (Lab Doc) (Slides)
• Homework 2: Exponential Coordinates - due 9/12
  • Starter Code
• Discussion 2: Exponential Coordinates (Worksheet) (Video) (Boardwork) (Solutions)

Rigid Body Transformations in 3D

9/5

(Slides) (Boardwork)
Quaternions / SE(3) / Twists
Reading - MLS 3.2

Representing Rigid Body Transformations

9/7

(Slides) (Boardwork)
se(3) / Expontential Map / Screws
Reading - MLS 3.2

Kinematics

Week 3

• Lab 3: Forward Kinematics/Coordinate Transforms (Starter Code General, Starter Code Sawyer) (Lab Doc) (Slides)
• Lab 4: Introduction to Mobile Robots (Starter Code) (Lab Doc) (Slides)
• Homework 3: Forward Kinematics - due 9/19
• Discussion 3: Forward Kinematics (Worksheet) (Boardwork) (Solutions) (Video on bCourses)
• Robot Usage Guide

Screws and Forward Kinematics I

9/12

(Slides) (Boardwork)
Screws - Twists / Chasle’s / Jointspace + FK
Reading - MLS 3.2

Forward Kinematics II

9/14

(Slides) (Boardwork)
Product of Exponentials / Examples
Reading - MLS 3.2

Week 4

• Continue Labs 3 and 4
• Homework 4: Inverse Kinematics - due 9/25
• Discussion 4: Inverse Kinematics (Worksheet) (Video) (Boardwork) (Solutions)
• Practice Midterms on Ed

Inverse Kinematics II

9/19

(Slides) (Boardwork)
Manipulator Workspace / PK 1
Reading - MLS 3.3

Inverse Kinematics II

9/21

(Slides) (Boardwork)
PK 2, 3 / Examples
Reading - MLS 3.3

Vision

Week 5

• Midterm I 09/28 in class
  • Review Slides
  • Review Session Recording, Password: #uxBJ.6F
• Lab Buffer Week
• No new homework this week
• Mini-Proposal due 10/6

Computer Vision I

9/26

(Slides) (Boardwork)
Image Formation and Features
Reading - Textbook Chapter 1, Chapter 2

Midterm

9/28

Week 6

• Final Project Guidelines
  • Proposal due Friday 10/13
• Lab 5: Inverse Kinematics and Path Planning (Starter Code) (Lab Doc) (Slides)
• Lab 6: Building Occupancy Grids with TurtleBot (Starter Code) (Lab Doc) (Slides)
• Homework 5: Vision - due 10/12
  • Starter code
  • Theory
• Discussion 5: Vision (Worksheet) (Boardwork) (Solutions) (Video on bCourses)

Computer Vision II

10/3

(Slides) (Boardwork)
Image Primitives and Correspondence
Reading - Textbook Chapters 3, 4

Computer Vision III

10/5

(Slides) (Boardwork)
Two-View Geometry
Reading - Textbook

Week 7

• Continue Labs 5 and 6
• Homework 6: Velocities - due 10/19
• Discussion 6: Velocities (Worksheet) (Solutions) (Boardwork) (Video)
• Final Project Proposal due Friday

Computer Vision IV

10/10

(Slides) (Boardwork)

Velocities

10/12

(Slides) (Boardwork)
Spatial / Body / Angular / Generalized Velocities
Reading - MLS 2.4, 3.4

Velocities and Jacobians

Week 8

• Lab Buffer Week
• Homework 7: Jacobians & Singularities - due 10/26
• Discussion 7: Jacobians (Worksheet) (Boardwork) (Solutions) (Video on bCourses)

Spatial Jacobian

10/17

(Slides) (Boardwork)
Reading - MLS 3.4

Body Jacobian and Singularities

10/19

(Slides) (Boardwork)
Reading - MLS 3.4

Week 9

• Lab 7: Full Stack (Starter Code) (Lab Doc) (Slides)
• Lab 8: Full Stack (Starter Code) (Lab Doc) (Slides)
• Homework 8: Dynamics - due 11/4
  • Starter Code
• Discussion 8: Dynamics (Worksheet) (Video) (Boardwork) (Solutions)
• Work on Final Projects

Motion Planning with Jacobians

10/24

(Slides) (Boardwork)
Singularities / Manipulability / Redundant Manipulators
Reading - MLS 3.4

Introduction to Lagrangian Dynamics in Planar Systems

10/26

(Slides) (Boardwork)
Reading - MLS 4.2

Dynamics

Week 10

• Continue Labs 7 and 8
• Homework 9: Control - due 11/13
• Discussion 9: 3D Lagrangian and linear systems intro (Worksheet) (Boardwork) (Solutions) (Video on bCourses)
• Work on Final Projects

Lagrangian Dynamics of Rigid Bodies and Kinematic Chains

10/31

(Slides) (Boardwork)

State-Space Modeling and Linear Systems

11/2

(Slides) (Boardwork)

Control and Motion Planning

Week 11

• Lab Buffer Week
• Discussion 10: Linear Control Theory (Worksheet) (Boardwork) (Solutions) (Video on bCourses)
• Final Project Check-In I due Thursday 11/9

Linear Control Theory and LQRs

11/7

(Slides) (Boardwork)

Computed Torque Control and Feedback Linearization

11/9

(Slides) (Boardwork)

Week 12

• Midterm II on 11/16 in class
  • Review Session Notes
  • Recording on Ed
• Work on Final Projects

Gravity Compensation and Task-Space Control

11/14

(Slides) (Boardwork)

Midterm II

11/16

Week 13

• Work on Final Projects
• Enjoy Thanksgiving!

Motion Planning I

11/21

(Slides) (Boardwork)

No Class - Thanksgiving Break!

11/23

Week 14

• Final Project Check-In II due 11/29

Motion Planning II

11/28

(Slides) (Boardwork)

Miscellaneous Topics (UAVs/Walking/Autonomous Vehicles)

11/30

(Slides) (Boardwork)

Final Projects

Week 15

• RRR Week: No Lectures
• Final Project Presentations on Thursday and Friday

Final Project Presentations

12/7

Final Project Presentations

12/8

Week 16

Finals Week - Good luck on your exams!

Final Project Websites due

12/15