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