CS223A / ME320 : Introduction to Robotics - Winter 2017

This course provides an introduction to physics-based modeling, design, planning, and control of robotic systems. You will learn basic methodologies and tools, and build a solid foundation that will enable you to move forward in both robotic research (CS327A) and application (CS225A).


Mon, Wed 4.30-5.50pm.
Gates B1.
Watch online.

Course Reader

Available at the Bookstore.

Office Hours

See below at Staff section.


Please sign up on Piazza.


Homework: 30%
Midterm (in class): 25%
Final (in class): 45%


6 assignments.
All must be submitted in order to receive a grade. Late submissions require approval by the instructor.
Due @ 4:30pm At beginning of class, or in box in front of Gates 144.


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Oussama Khatib


Office hours : Mon, Wed 6:00-7:00pm
Gates 144
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Mikael Jorda

Course Assistant

Office hours : Tue 1:30-2:30pm Gates 159
Fri 1:30-2:30 Fishbowl (Gates 120)
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Toki Migimatsu

Course Assistant

Office hours : Tue 3:00-4:00pm Gates 159
Wed 11:00am-12:00pm Fishbowl (Gates 120)
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Ryan Mallory

Course Assistant

Office hours : Mon 11:00am-12:00pm Fishbowl (Gates 120)
Tue : 11:00am-12:00pm Gates 159


Date Lecture Handouts Homework
Mon, Jan 9 Introduction & Course Review
Wed, Jan 11 Spatial descriptions 1 [Kin1.pdf] [hw1.pdf] Due Jan 25
Mon, Jan 16 Holiday (Martin Luther King)
Wed, Jan 18 Vision in Robotics (Guest Lecturer)
Mon, Jan 23 Spatial descriptions 2
Wed, Jan 25 Forward Kinematics
Mon, Jan 30 Jacobians
Wed, Feb 1 Jacobians: Velocities
Mon, Feb 6 Jacobians: Explicit Form
Wed, Feb 8 Jacobians: Static Forces
Wed, Feb 8 Review 1 Group I (6.00-8.00p, Gates 119)
Mon, Feb 13 Inverse Kinematics (Guest Lecturer: Torsten Kröger)
Mon, Feb 13 Review 1 Group II (6.00-8.00p, Gates 119)
Wed, Feb 15 Trajectory Generation (Guest Lecturer: Torsten Kröger)
Mon, Feb 20 Holiday (President’s Day)
Wed, Feb 22 Midterm Examination (in class) Location: 420-040
Mon, Feb 27 Dynamics: Acceleration and Inertia
Wed, Mar 1 Dynamics: Explicit Form
Mon, Mar 6 Control: PID control
Wed, Mar 8 Control: Joint space control
Mon, Mar 13 Control: Operational space formulation & Force control
Mon, Mar 13 Review 2 Group I (6.00-8.00p, Gates 119)
Wed, Mar 15 Advanced Topics
Wed, Mar 15 Review 2 Group II (6.00-8.00p, Gates 119)
Fri, Mar 24 Final Examination (3.30-6.30)