CS223A — Introduction to Robotics
Winter Quarter 2012
| Instructors | Prof. Oussama Khatib This e-mail address is being protected from spambots. You need JavaScript enabled to view it Room Gates 144 Office hours: Mon/Wed 4:00-5:00pm |
Dr. Torsten Kroeger This e-mail address is being protected from spambots. You need JavaScript enabled to view it Room Gates 122 Office hours: Mon/Wed, 4:00-5:00pm< |
| Assistants | Gerald Brantner Office hours: Thu 11:00-12:00am |
Shruti Gupta Office hours: Tue 12:30-1:30pm |
| Xiyang Yeh Office hours: Fri 4:00-5:00pm |
This e-mail address is being protected from spambots. You need JavaScript enabled to view it
Room Gates 120 (Fishbowl) |
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| Lectures | Gates B01 | Mon, Wed, 2:15-3:30pm |
Announcsments
- Jan 9 : Welcome to an exciting new quarter!
- Jan 9 : We will use Piazza, an online collaboration tool during the quarter. Please sign up and enroll in 'CS 223A'.
- Jan 9 : To view the lecture online, login at the SCPD website
- Jan 13 : The office hours will be conducted in room 120. If the room is occupied, the TAs can be found at the lab space outside of the room.
- Feb 27 : Homework 5 due date extended to Mar 2
Schedule
- Jan 9 : Introduction (pdf)
- Jan 11 : Spatial descriptions 1 (pdf)
- Jan 16 : Holiday (Martin Luther King)
- Jan 18 : Spatial descriptions 2
- Jan 23 : Forward Kinematics 1 (pdf)
- Jan 25 : Forward Kinematics 2 (pdf)
- Jan 25 : Review 1 Group I (7-9 pm, Gates 119) (pdf) (solutions)
- Jan 26 : Review 1 Group II (7-9 pm, Gates 119)
- Jan 30 : Inverse Kinematics (pdf)
- Feb 1 : Trajectory Generation (pdf)
- Feb 6 : Jacobians: Velocities (pdf)
- Feb 8 : Jacobians: Explicit Form (pdf)
- Feb 13 : Jacobians: Static Forces (pdf)
- Feb 13 : Review 2 Group I (7-9pm, Gates 119) (pdf) (solutions)
- Feb 14 : Review 2 Group II (7-9pm, Gates 119)
- Feb 15 : Midterm examination (in class) (solutions)
- Feb 20 : Holiday (President’s Day)
- Feb 22 : Dynamics: Acceleration and Inertia (pdf)
- Feb 27 : Dynamics: Explicit Form
- Feb 29 : Control: PID control (pdf)
- Mar 5 : Vision in Robotics (Guest Lecturer)
- Mar 7 : Control: Joint space control
- Mar 12 : Control: Operational space formulation & Force control
- Mar 14 : Advanced Topics
- Mar 14 : Review 3 Group I (7-9pm, Gates 119) (pdf) (solutions)
- Mar 15 : Review 3 Group II (7-9pm, Gates 119)
- Mar 23 : Final examination (12:15-3:15 pm)
Homeworks
Homework Guidelines: Homework is due by 5 pm on the due date. You can turn it in to the TAs during class or in the drop-box outside Professor Khatib's office (Gates 144). Anything handed in after 5 pm on the due date will be penalized by 30% for each 24 hours of lateness. In order to receive a grade at the end of the course, all homework must have been handed in. All homework is to be done individually. If you have any homework problems, you are urged to bring your questions to the professor or the TA.- Show your work -- you'll get no credit for answers without explanations.
- Circle / Highlight your answers -- if we can't find your answers, we can't grade your assignment.
- Write legibly -- if we can't read your name or your answers, we can't grade your assignment.
- Staple pages -- if pages go missing, we can't grade your assignment.
- Use common sense for decimals -- if the question states a = 1.34, then don't give answers like 2*a = 2.680001245735. If your solution contains fractions, square roots etc., do not convert them into decimals until the "last" possible step.
| Out | Due | ||
| Homework 1 (pdf) | Solution 1 (pdf) | Jan 18 | Jan 25 |
| Homework 2 (pdf) | Solution 2 (pdf) | Jan 25 | Feb 1 |
| Homework 3 (pdf) | Solution 3 (pdf) | Feb 1 | Feb 8 |
| Homework 4 (pdf) | Solution 4 (pdf) | Feb 8 | Feb 15 |
| Homework 5 (pdf) | Solution 5 (pdf) | Feb 22 | Mar 2 |
| Homework 6 (pdf) | Solution 6 (pdf) | Mar 2 | Mar 9 |