Schedule

Sep 4: Introduction to Robot Kinematics and Rigid-body motion (2D), Mobile robot Motion
Sep 9: Mobile Robot Motion (cont), (Non)holonomic Constraints, Mobile Robot Steering Kinematics
Sep 11: 3D Orientation: Rotation Matrices, Euler Angles; HW 2.1 Released
Sep 16: 3D Orientation: Axis-Angle, Rotation Vectors, Quaternions; HW 1 Due (Sep 17)
Sep 18: 3D Rigid-body motion: Homogeneous Transforms, Sequential Transformations
Sep 23: Robot Arms: Types of Actuators/Joints, Configuration Space vs. Task Space
Sep 25: Robot Arms: Forward Kinematics, Jacobians; HW 2.2 Released
Sep 30: Jacobians (cont): Velocity, Force, Singularities
Oct 2: Inverse Kinematics: Differential IK, the Gauss-Newton Method
Oct 7: Inverse Kinematics Cont: Differential IK, the Gauss-Newton Method; HW 2.1 Due (Oct 8)

Oct 9: Introduction to State Estimation and Probability Fundamentals, Bayesian Filtering
Oct 14: Fall break - No class
Oct 16: Bayesian Filtering continued + Kalman Filtering; HW 3.1 and 3.2 Released
Oct 21: Kalman Filtering Continued + Intro to Particle Filtering; HW 2.2 Due (Oct 22)
Oct 23: Particle Filtering Continued

Oct 28: Intro to Planning + Graph-based Methods
Oct 30: Graph-based Methods Continued; HW 4 Released
Nov 4: Sampling-based Methods; HW 3.1 Due (Nov 5); HW 3.2 Due (Nov 5)
Nov 6: Sampling-based Methods Continued

Nov 11: Introduction to Feedback Control + PID
Nov 13: PID Continued + Pure-pursuit control
Nov 18: State-space Representation + Linear-Quadratic Regulator (LQR); HW 4 Due (Nov 19); HW 5 Released; Final Project Released
Nov 20: Model Predictive Control (MPC)
Nov 25: Special Topics (Lecture 1)
Nov 27: Thanksgiving holiday - No class
Dec 2: Special Topics (Lecture 2)
Dec 4: Robotics Lab Tour: EmPRISE Lab + Praxis Lab
Dec 12: Finals Week - No class; HW 5 Due (Dec 12); Final Project Due (Dec 12)

Course Schedule 🗓️