CSCI - 545
Introduction to Robotics

Tentative Schedule


LECTURE SCHEDULE

June 30

Class info + Introduction to Robotics (chapter )

 Chapter 1 (slides)

 

Basics of robotics

June 31

Actuators

Notes (actuators)

July 6

Sensors

(sensors) (linear algebra)

 

July 7

Linear algebra+ rigid body

Chapter 2 (slides)

 

July 8

Rigid body + coordinate systems

 

 

Kinematics & Inverse Kinematics

July 12

Kinematics

Chapter 3

HW1 Due (HW1 solution)

July 13

Kinematics

Inverse Kinematics + Velocity Kinematics

Forward and Inverse Kinematics (Chapter 4)

 

July 14

Angular velocity

Inverse Kinematics + Velocity kinematics

 

July 15

Linear velocity

Chapter 4 (Lec7)

 

July 19

Singularity

Chapter 4 

HW2 Due (HW2 solution)

July 20

Force and torque

Chapter 4  (slides)

Dynamics

July 21

Dynamics

Chapter 7 (slides + 2)

Mobile Robots

July 22

Dynamics

 

 

July 26

Midterm

 

 Sample midterm solution

Planning and Control

July 27

Path & Trajectory planning

Chapter 5 (slides 1)

 HW3 Due

July 28

Probabilistic Roadmaps

Chapter 5 (slides 2 + 3)

 HW3_solution

Localization
July 29 Basics of probability Probability slides  
Aug. 2

Kalman Filtering

 

HW4 Due

Aug. 3

Extended Kalman  

 

Aug. 4

Particle filter

 

 

Aug. 5

Localization

Slides

 

Aug. 9

Review

 WH5 Due

Aug. 10

Final exam