Course Schedule 🗓️
The following breakdown is tentative.
1. Introduction and ROS fundamentals
2. Robot Kinematics
- Sep 3
Introduction to Robot Kinematics, Mechanisms, and Rigid-body motion (2D)
- Sep 6
Labor day - No class
- Sep 8
Mobile Robot Motion and Constraints
- Sep 10
Mobile Robot Steering Kinematics
- Sep 13
3D Rigid-body motion: Rotation Matrices
- Sep 15
3D Rigid-body motion: Rotation Matrices continued, Euler Angles
- Sep 17
3D Rigid-body motion: Axis-Angle and Quaternions
HW 1 Due
- Sep 20
3D Rigid-body motion: Properties of Rotations and Homogeneous Transformations
- Sep 22
Robot Arms: Configuration space and Task space
- Sep 24
DH Parameters
- Sep 27
DH Parameters continued
HW 2.2Kinematics
- Sep 29
DH Parameters and Forward Kinematics
- Oct 1
Forward Kinematics continued
HW 2.1 Due
- Oct 4
Inverse Kinematics
- Oct 6
Inverse Kinematics continued
3. State Estimation
- Oct 8
Introduction to State Estimation and Probability Fundamentals
- Oct 11
Fall Break - No class
- Oct 13
Bayesian Filtering
- Oct 15
Kalman Filtering
HW 2.2 Due HW 3State Estimation
- Oct 18
Kalman Filtering continued
- Oct 20
Particle Filtering
- Oct 22
Particle Filtering continued
4. Motion Planning
5. Controls
- Nov 5
Introduction to Feedback Control
HW 3 Due
- Nov 8
Classical Control: PID
- Nov 10
PID continued
- Nov 12
Pure Pursuit Control
- Nov 15
Stability of Control Systems
- Nov 17
State-Space Representation
HW 5 and Final Project
- Nov 19
State-Space Representation Continued
- Nov 22
Model Predictive Control (MPC)
- Nov 24
Thanksgiving holiday - No class
- Nov 26
Thanksgiving holiday - No class
- Nov 29
Optimal Control: Linear-Quadratic Regulator (LQR)
- Nov 30
HW 4 Due
- Dec 1
LQR continued
- Dec 3
Special Topics: Physically Assistive Robots
- Dec 6
Robotics Lab Tour: EmPRISE Lab
- Dec 11
HW5 and Final Project due