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 on Gradescope.


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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 B30
Fri 1:30-2:30 Fishbowl (Gates 120)
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Toki Migimatsu

Course Assistant

Office hours : Tue 3:00-4:00pm Gates B30
Wed 11:00am-12:00pm Fishbowl (Gates 120)
SCPD OH : Tue 9:00-10:30pm
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Ryan Mallory

Course Assistant

Office hours : Mon 11:00am-12:00pm Fishbowl (Gates 120)
Tue : 11:00am-12:00pm Gates B30


Date Lecture Handouts Homework
Mon, Jan 9 Introduction & Course Review
Wed, Jan 11 Spatial descriptions 1 [Kin1.pdf] HW1 out : [hw1.pdf] Solutions : [hw1_sol.pdf]
Mon, Jan 16 Holiday (Martin Luther King)
Wed, Jan 18 Vision in Robotics (Guest Lecturer : Silvio Savarese) [vision.pdf]
Mon, Jan 23 Spatial descriptions 2
Wed, Jan 25 Forward Kinematics [Kin2.pdf] HW1 due, HW2 out : [hw2.pdf] [hw2_latex] Solutions : [hw2_sol.pdf]
Mon, Jan 30 Jacobians [Jacobian.pdf]
Wed, Feb 1 Jacobians: Velocitiesi/Explicit Form HW2 due, HW3 out : [hw3.pdf] [hw3_latex] Solutions : [hw3_sol.pdf]
Mon, Feb 6 Jacobians: Explicit Form/Static Forces
Wed, Feb 8 Dynamics: Acceleration and Inertia [Dynamics.pdf] HW3 due, HW4 out : [hw4.pdf] [hw4_latex] Solutions : [hw4_sol.pdf]
Mon, Feb 13 Inverse Kinematics (Guest Lecturer: Torsten Kröger) [InverseKinematics.pdf]
Mon, Feb 13 Review 1 Group I (6.00-8.00p, Gates 119) [practice_midterm.pdf] [practice_midterm_solutions.pdf]
Wed, Feb 15 Trajectory Generation (Guest Lecturer: Torsten Kröger) [TrajectoryGeneration.pdf] HW4 due
Wed, Feb 15 Review 1 Group II (6.00-8.00p, Gates 119)
Mon, Feb 20 Holiday (President’s Day)
Wed, Feb 22 Midterm Examination (in class : Gates B01) [midterm_solutions.pdf]
Mon, Feb 27 Dynamics: Explicit Form [dynamics2.pdf]
Wed, Mar 1 Control: PID control [control.pdf] HW5 out : [hw5.pdf] [hw5_latex] Solutions : [hw5_sol.pdf]
Mon, Mar 6 Control: Motion and Force Control [control2.pdf]
Wed, Mar 8 Advanced Topics HW5 due, HW6 out : [hw6.pdf] [hw6_latex] Solutions : [hw6_sol.pdf]
Mon, Mar 13 Guest Lecture
Mon, Mar 13 Review 2 Group I (6.00-8.00p, Gates 119)
Wed, Mar 15 In Class Review Session HW6 due
Fri, Mar 24 Final Examination (3.30-6.30) NVIDIA Auditorium (Huang Building)