CS223A: Introduction to Robotics

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 3.00-4.20pm.
Gates B3.
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 @ 4pm. Box in front of Gates 144.


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Oussama Khatib


Office hours : Wed 4.30-5.30
Gates 144
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Gerald Brantner

Course Assistant

Office hours : Mon, Thu 2.00-3.00
Gates 119/120 Fishbowl
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Shameek Ganguly

Course Assistant

Office hours : Tue, Fri 10.30-11.30
Gates B26A on Tue, B28 on Fri
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Suleman Kazi

Course Assistant

Office hours : Tue, 2.00-4.00
Gates B28


Date Lecture Handouts Homework
Mon, Jan 4 Introduction & Course Review
Wed, Jan 6 Spatial descriptions 1 [Kin1.pdf] [hw1.pdf] Due Jan 13
Mon, Jan 11 Spatial descriptions 2 (Guest Lecturer: Torsten Kröger) [Kin2.pdf]
Wed, Jan 13 Forward Kinematics 1 & 2 (Guest Lecturer: Torsten Kröger) [hw2.pdf] Due Jan 20
Mon, Jan 18 Holiday (Martin Luther King)
Wed, Jan 20 Vision in Robotics (Guest Lecturer: Juan Carlos Niebles) [vision] [hw3.pdf] Due Feb 3
Mon, Jan 25 Jacobians [Jacobian.pdf]
Wed, Jan 27 Jacobians: Velocities
Mon, Feb 1 Jacobians: Explicit Form
Wed, Feb 3 Jacobians: Static Forces [singular_ex.pdf] [hw4.pdf] Due Feb 12
Wed, Feb 3 Review 1 Group I (6.00-8.00p, Gates 119)
Mon, Feb 8 Inverse Kinematics (Guest Lecturer: Torsten Kröger) [InverseKinematics.pdf]
Mon, Feb 8 Review 1 Group II (6.00-8.00p, Gates 119)
Wed, Feb 10 Trajectory Generation (Guest Lecturer: Torsten Kröger) [TrajectoryGeneration.pdf]
Mon, Feb 15 Holiday (President’s Day)
Wed, Feb 17 Midterm Examination (in class) Location: 420-040
Mon, Feb 22 Dynamics: Acceleration and Inertia [dynamics.pdf] [hw5.pdf] Due Feb 29
Wed, Feb 24 Dynamics: Explicit Form
Mon, Feb 29 Control: PID control [control.pdf] [hw6.pdf] Due Mar 7
Wed, Mar 2 Control: Joint space control
Mon, Mar 7 Control: Operational space formulation & Force control
Mon, Mar 7 Review 2 Group I (6.00-8.00p, Gates 119)
Wed, Mar 9 Advanced Topics
Wed, Mar 9 Review 2 Group II (6.00-8.00p, Gates 119)
Wed, Mar 16 Final Examination (3.30-6.30)