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 


July 7 
Linear algebra+ rigid body 
Chapter 2 (slides) 


July 8 
Rigid body + coordinate
systems 



Kinematics &
Inverse Kinematics 

July 12 
Kinematics 
HW1 Due (HW1 solution) 

July 13 
Kinematics Inverse Kinematics +
Velocity Kinematics 


July 14 
Angular velocity 


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 

Mobile Robots 

July 22 
Dynamics 



July 26 
Midterm 


Planning and Control 

July 27 
Path & Trajectory
planning 
Chapter 5 (slides 1) 


July 28 
Probabilistic Roadmaps 

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 


Aug. 9 
Review 


Aug. 10 
Final exam 

