Course Calendar

Week 0

No Class
8/24
Intro - History of Robotics

Week 1

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

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

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

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

Vision - Introduction
9/28

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

No lecture
9/30

Week 6

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

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

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

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

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

Motion Planning Methods
No Class
11/11

Week 12

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