Course Calendar

Week 0

• Linux Workshop on 8/26 5pm, Cory 105 (Slides)
• Python/NumPy Workshop on 8/26 5pm, Cory 105 (Slides)
• Lab 0: Setting Up a VM (Optional)
• Homework 0: Linear Algebra & Python (due 08/31)
• Discussion 0: Linear Algebra (Slides) (Video)

No Class

8/24

Intro - History of Robotics

8/26

(Lecture Slides)
(Logistics Slides)

Week 1

• Lab 1: Introduction to ROS (Lab Doc)
• Homework 1: Rotations and Reference Frames (due 09/08)
• Homework 0 Self-Grades: (due 09/10)
• Discussion 1: Rotations (Worksheet) (Solutions) (Video)
• LOST 0: Linear Algebra Review (Slides)

Rotations of Rigid Bodies

8/31

(Video)
(Raw Lecture Slides)
(Annotated Lecture Slides)
Reading - MLS 2.1, 2.2

Rigid Body Transformations in R^3

9/2

(Video)
(Raw Lecture Slides)
(Annotated Lecture Slides)
Reading - MLS 2.3

Week 2

• Lab 2: Writing Publisher/Subscriber Nodes in ROS (Lab Doc)
• Homework 2: Exponential Coordinates (due 09/14)
• Homework 1 Self-Grades: (due 09/16)
• Discussion 2: Exponential Coordinates (Worksheet) (Solutions) (Video) (Feedback)
• LOST 1: Rigid Body Motions & Rotations (Slides) (Annotated Slides)

Forward Kinematics

9/7

(Video)
(Raw Lecture Slides)
(Annotated Lecture Slides)
Reading - MLS 3.2

Forward Kinematics (cont.)

9/9

(Video)
(Raw Lecture Slides)
(Annotated Lecture Slides)
Reading - MLS 3.2

Week 3

• Lab Module A
  • Lab 3: Forward Kinematics/Coordinate Transforms (Lab Doc)
  • Lab 4: Introduction to Mobile Robotics (Lab Doc)
• Homework 3: Forward Kinematics (due 09/21)
• Homework 2 Self-Grades: (due 09/23)
• Discussion 3: Forward Kinematics (Worksheet) (Solutions) (Video)
• LOST 2: Screw Motion (Annotated Slides)

Forward Kinematics Examples

9/14

(Video)
(Raw Lecture Slides)
(Annotated Lecture Slides)
Reading - MLS 3.2

Inverse Kinematics

9/16

(Video)
(Annotated Lecture Slides)
(Raw Lecture Slides)
Reading - MLS 3.2

Week 4

• Lab Module A
  • Lab 3: Forward Kinematics/Coordinate Transforms (Lab Doc)
  • Lab 4: Introduction to Mobile Robotics (Lab Doc)
• Homework 4: Inverse Kinematics (due 09/28) No slip days!
• Discussion 4: Inverse Kinematics (Worksheet) (Work) (Solutions) (Video)
• Practice Midterm I (Exam) (Solutions)
• LOST 3: Forward and Inverse Kinematics (Annotated Slides) (Example Solutions) (Tips) (Summary Slide)

Inverse Kinematics (cont.)

9/21

(Video)
(Raw Lecture Slides)
(Annotated Lecture Slides)
Reading - MLS 3.3

Inverse Kinematics Examples & Midterm I Review

9/23

(Video)
(Raw Lecture Slides)
(Annotated Lecture Slides)
Reading - MLS 3.3

Week 5

• Midterm I released 09/29 @8pm (due 09/30 @8pm)
• Lab Module A Buffer Week
• No new homework this week
• Homework 4 Self-Grades: (due 10/05)
• Discussion 5: Project Ideation (Project Guidelines) (Slides) (Video)

Vision - Introduction

9/28

(Video)
(Lecture Slides)
Reading - MaSKS Chapter 1, 2

No lecture

9/30

Week 6

• Lab Module B
  • Lab 5: Inverse Kinematics (Lab Doc)
  • Lab 6: Computer Vision (Lab Doc)
• Homework 5: Vision (due 10/13)
• Discussion 6: Computer Vision (Worksheet) (Solutions) (Video)

Vision - Image Primitives and Correspondence

10/5

(Video)
(Lecture Slides)
Reading - MaSKS Chapters 3, 4

Vision - Two View Geometry

10/7

(Video)
(Lecture Slides)
Reading - MaSKS Chapters 3, 4

Week 7

• Lab Module B
  • Lab 5: Inverse Kinematics (Lab Doc)
  • Lab 6: Computer Vision (Lab Doc)
• Homework 6: Velocities (due 10/19)
• LOST 4: Computer Vision (Slides)
• Discussion 7: Velocities (Worksheet) (Solutions) (Video)

Velocities, Twists, and Screws

10/12

(Video)
(Raw Lecture Slides)
(Annotated Lecture Slides)
Reading - MLS 2.4

Velocities, Twists, Screws, and Manipulator Jacobian

10/14

(Video)
(Raw Lecture Slides)
(Annotated Lecture Slides)
Reading - MLS 2.4

Week 8

• Lab Module B Buffer Week
  • Project Proposal instead
• Homework 5 Self-Grades: (due 10/23/21)
• Homework 7: Jacobians & Singularities (due 10/27)
• Discussion 8: Jacobians (Worksheet) (Solutions) (Video)

Motion Planning with Jacobians

10/19

(Video)
(Lecture Slides)
Reading - MLS 2.4, 3.4

Singularities of Jacobians, Wrenches

10/21

(Video)
(Lecture Slides)
Reading - MLS 3.4

Week 9

• Homework 6 Self-Grades: (due 11/05/21)
• Lab Module C
  • Lab 7: Path Planning (Lab Doc)
  • Lab 8: Mapping with Occupancy Grids (Lab Doc)
• Homework 8: Dynamics (due 11/02)
• Discussion 9: Dynamics (Worksheet) (Solutions) (Video)

Dynamics of Robots & Lagrangian Dynamics

10/26

(Video)
(Raw Lecture Slides)
(Annotated Lecture Slides)
(MATLAB Code)
Reading - MLS 4.2, 4.3

Control of Robot Manipulators

10/28

(Video)
(Raw Lecture Slides)
(Annotated Lecture Slides)
Reading - MLS 4.5, 4.6

Week 10

• Homework 7 Self-Grades: (due 11/05/21)
• Lab Module C
  • Lab 7: Path Planning (Lab Doc)
  • Lab 8: Mapping with Occupancy Grids (Lab Doc)
• Homework 9: Control (due 11/10)
• Discussion 10: Control (Worksheet) (Solutions) (Video)

Control of Robots

11/2

(Video)
(Lecture Slides)
Reading - MLS 4.5, 4.6

Control of Robots (cont.)

11/4

(Video)
(Lecture Slides)
Reading - MLS 4.5, 4.6

Week 11

• Homework 8 Self-Grades: (due 11/13/21)
• Lab Module C Buffer Week
• LOST 8: Controls (Slides)
• No discussion this week

Motion Planning Methods

11/9

(Video)
(Lecture Slides)
(3 link arm MATLAB Code)

No Class

11/11

Week 12

• Homework 9 Self-Grades: (due 11/20/21)
• Midterm II released 11/17 @8pm (due 11/18 @8pm)
• Discussion 12: Design (Video)

Midterm II Review

11/16

(Video)
(Lecture Slides)

Avinash Siravuru from Auris Health and some PhD Talks

11/18

(Video)
(Lecture Slides)

Week 13

Lab Tour

11/23

(Video)
(Lecture Slides)

No Class

11/25

Week 14

Tingnan Zhang from Google Brain and Akshara Rai from Facebook AI Research

11/30

Video)
(Lecture Slides)

Amay Saxena from Tesla Autopilot

12/2

Video)
(Lecture Slides)

Week 15

RRR Week: No Lectures

Final Project Presentations

12/9

Final Project Presentations

12/10

Week 16

Finals Week - Good luck on your exams!

Final Project Websites due

12/17

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