Course Schedule 🗓️
The following breakdown is tentative.
1. Robot Operating System
- Aug 26
Introduction and Overview + Intoduction to ROS
- Aug 28
ROS Tutorials and Examples
- Sep 2
Labor day - No class
- Sep 4
ROS Tutorials and Examples (continued)
HW 1 Release
2. Robot Kinematics
- Sep 9
Introduction to Robot Kinematics, Mechanisms, and Rigid-body motion (2D), Mobile robot motion
- Sep 11
Mobile Robot Motion and Constraints (continued) + Mobile robot Steering Kinematics
- Sep 16
3D Rigid-body motion: Rotation Matrices, Euler Angles
HW 2.1 Release
- Sep 18
3D Rigid-body motion: Axis-Angle, Quaternions
HW 1 Due
- Sep 23
3D Rigid-body motion: Properties of Rotations, Homogeneous Transformations, Robot Arms: Configuration Space vs. Task Space
- Sep 25
DH Parameters
- Sep 30
DH Parameters continued + Forward Kinematics
HW 2.2 Release
- Oct 2
Forward Kinematics Continued
HW 2.1 Due
- Oct 7
Inverse Kinematics
3. State Estimation
- Oct 9
Introduction to State Estimation and Probability Fundamentals, Bayesian Filtering
- Oct 14
Fall break + Indigenous People’s Day - No class
- Oct 16
Bayesian Filtering continued + Kalman Filtering
HW 3.1 Released
- Oct 21
Kalman Filtering Continued + Intro to Particle Filtering
HW 3.2 Released
- Oct 23
Particle Filtering Continued
HW 2.2 Due
4. Motion Planning
- Oct 28
Intro to Planning + Graph-based Methods
- Oct 30
Graph-based Methods Continued
- Nov 4
Sampling-based Methods
HW 4 Released
- Nov 6
Sampling-based Methods Continued
HW 3.1 Due
HW 3.2 Due
5. Controls
- Nov 11
Introduction to Feedback Control + PID
- Nov 13
PID Continued + Pure-pursuit control
- Nov 18
Stability of Control Systems + State-space Representation
- Nov 20
Linear-Quadratic Regulator (LQR)
HW 4 Due
HW 5 Released
Final Project Released
- Nov 25
Model Predictive Control (MPC)
- Nov 27
Thanksgiving holiday - No class
- Dec 2
Special Topics: Intro to Assistive Robotics
- Dec 4
Special Topics: Building Caregiving Robots
- Dec 9
Robotics Lab Tour: EmPRISE Lab
- Dec 13
Finals Week - No class
HW 5 Due
Final Project Due