# Course Schedule 🗓️

The following breakdown is tentative.

### 1. Robot Operating System

### 2. Robot Kinematics

- Aug 31
Introduction to Robot Kinematics, Mechanisms, and Rigid-body motion (2D)

- Sep 2
Mobile Robot Motion and Constraints

- Sep 5
Labor day -

**No class**- Sep 7
Mobile Robot Steering Kinematics

- Sep 9
3D Rigid-body motion: Rotation Matrices

- Sep 12
3D Rigid-body motion: Rotation Matrices continued, Euler Angles

**HW 2.1 Release**- Sep 14
3D Rigid-body motion: Axis-Angle and Quaternions

- Sep 16
3D Rigid-body motion: Properties of Rotations and Homogeneous Transformations

**HW 1 Due**- Sep 19
Robot Arms: Configuration space and Task space

- Sep 21
DH Parameters

- Sep 23
DH Parameters continued

- Sep 24
**HW 2.2 Release**- Sep 26
DH Parameters and Forward Kinematics

- Sep 28
Forward Kinematics continued

**HW 2.1 Due**- Sep 30
Inverse Kinematics

- Oct 3
Inverse Kinematics continued

### 3. State Estimation

- Oct 5
Introduction to State Estimation and Probability Fundamentals

- Oct 7
Bayesian Filtering

**HW 2.2 Due**- Oct 10
Fall break + Indigenous People’s Day -

**No class**- Oct 12
Kalman Filtering

**HW 3.1 Release**- Oct 14
Kalman Filtering continued

- Oct 17
Particle Filtering

**HW 3.2 Release**- Oct 19
Particle Filtering continued

### 4. Motion Planning

### 5. Controls

- Nov 2
Introduction to Feedback Control

**HW 3 Due**- Nov 4
Classical Control: PID

- Nov 7
PID Continued

- Nov 9
Pure Pursuit Control

- Nov 11
Stability of Control Systems

- Nov 14
State-Space Representation

- Nov 16
State-Space Representation Continued

- Nov 18
Model Predictive Control (MPC)

**HW 5 and Final Project Release****HW 4 Due**- Nov 21
Optimal Control: Linear-Quadratic Regulator (LQR)

- Nov 23
Thanksgiving holiday -

**No class**- Nov 25
Thanksgiving holiday -

**No class**- Nov 28
LQR continued

- Nov 30
Special Topics: Intro to Assistive Robotics

- Dec 2
Special Topics: Building Caregiving Robots

- Dec 5
Robotics Lab Tour: EmPRISE Lab

- Dec 12
**HW5 and Final Project due**