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Teaching » Syllabus: Introduction to Robotics

All downloadable documents are Adobe Acrobat PDF documents. You can obtain Acrobat for free by following the link from the Adobe Icon.

Note: This syllabus will be modified continuously to accommodate the progress and interests of the course participants!

Schedule of Lectures:

DateTopicAssignments
1
IntroductionS&S: Chapter 1
Recording
2
Matrix Algebra RefresherS&S: Appendix A
Recording
3
Basic Linear Control Theory IBook Chapters
Recording
4
Frequency Domain Analysis, Introduction to Matlab/SimulinkBook Chapter,
Matlab/Simulink Introduction
Recording
5
Introduction to the NAO robotRecording
6
Basic Linear Control Theory IIBook Chapter
Recording
7
Coordinate TransformationsS&S: Chapter 2.1-2.7
Recording
8
Direct KinematicsS&S: Chapter 2.7-2.11 ,
Recording
9
Physical Simulation and Real-Time ControlManual for programming with SL (a bit outdated),
Recording
10
Introduction to the Robotics Operating System (ROS)Recording
11
Inverse KinematicsS&S: Chapter 2.12, 3.1-3.7,
Recording
12
Dynamics: Lagrangian FormulationS&S: Chapter 7.1-7.4 ,
Recording
13
Dynamics: Newton-Euler Formulation and SoftwareToolsS&S: Chapter 7.5-7.8,
Recording
14
Nonlinear ControlS&S: Chapter 8,
Recording
15
Trajectory PlanningS&S: Chapter 4,
Recording
16
Nonlinear ControlS&S: Chapter 8,
Recording
17
Force ControlS&S: Chapter 9,
Recording
18
Sensors & Actuators, FilteringS&S: Chapter 5,
Recording
19
Adaptive ControlRecording
20
Optimal ControlRecording
21
Project DiscussionsRecording
22
Kalman FilteringHandout, More info on Kalman Filtering,
Recording
23
Biped Locomotion 
24
Touch Perception and Manipulation in Robotics 

Schedule of Labs: (4-6pm) Group Sign-up Page

DateTopicLinks
Jan 31 and Feb 1Getting known to the NAO robotUSC Nao Website
Feb 14 and Feb 15Working with the NAO simulatorInstructions for NAO Simulator
Mar 7 and Mar 8Object manipulation-
Mar 28 and Mar 29Drawing on paper-
Apr 9 - May 8 (on demand)Project-related labs-

Schedule of Homeworks:

DateDue DateLink to Homework
Feb.12Feb.23Homework 1
March 16March 26Homework 2
April 4April 16Homework 3
April 23May 7Homework 4
Floating Base Control 

TO BE UPDATED YET

Jan. 31Case Study I: Stabilization of an Artificial Eye SystemManual for robot simulator
Feb. 9canceled 
Mar. 2Nonlinear ControlS&S: Chapter 6
Mar. 7Trajectory PlanningS&S: Chapter 5
Homework 2
Mar. 9Force ControlS&S: Chapter 7
Mar. 21Sensors & Actuators, FilteringS&S: Chapter 8
Mar. 23Optimal Control 
Mar. 28Kalman FilteringHandout, More info on Kalman Filtering
Mar. 30Adaptive Control 
April. 4Introduction to Real-Time Control with Xenomai,
Case Study: Gravity Compensation of a 7 DOF Robot Arm - Theory		WindriverSystems Handout,
Manual for programming the robot
Homework 3
April 6Case Study: Gravity Compensation of a 7 DOF Robot Arm - Implementation, Discussion of Robot ProjectTAR Archive with Robot Simulator,
Homework 4
April 11Labs/ Projects Preparation (no class) 
April 13Questions and Answer Section concerning Project 
April 18Labs/ Projects Preparation (no class) 
April 20Project presentations 
April 25Project presentations (continued), Q&A for Final Quiz Preparation, and videos of cool robotics research 

Schedule of Labs: (4-6pm)

TBAStepping BehaviorTBA
TBAUsing sonar for distance navigationTBA
Designed by: Nerses Ohanyan & Jan Peters
Page last modified on June 09, 2022, at 10:37 PM