CS223A : Introduction to Robotics, Winter 2015

Class : Mon, Wed 2.15-3.30pm. Gates B3.

Course Reader available at the Bookstore.

Office Hours location: Gates 119/120. (AI Lab Open Area / Fishbowl.)

This introduction to the basic modeling, design, planning, and control of robot systems provides a solid foundation for the principles behind robot design. You will learn the basic methodologies and tools in robotics research and applications to move forward and experiment further in the robotics field.


Oussama Khatib

Office hours : Mon Wed 4:00-5:00 Webpage

Gerald Brantner

Course Assistant
Office hours : Thu 11:00-12:00

Wanxi Liu

Course Assistant
Office hours : Tue 4:30-5:30

Inrak Choi

Course Assistant
Office hours : Mon 4:00-5:00


Date Lecture Handouts Homework (all due @ 4pm. Box in front of Gates 144)
Mon, Jan 5 Introduction & Course Review
Wed, Jan 7 Spatial descriptions 1 Kin1.pdf
Mon, Jan 12 Spatial descriptions 2 Kin2.pdf
Wed, Jan 14 Forward Kinematics 1 Homework 1 - Due Jan 21.
Mon, Jan 19 Holiday (Martin Luther King)
Wed, Jan 21 Vision in Robotics (Guest Lecturer: Silvio Savarese) Homework 2 - Due Jan 28.
Mon, Jan 26 Forward Kinematics 2 (Guest Lecturer: Torsten Kröger)
Wed, Jan 28 Jacobians: Velocities
Mon, Feb 2 Jacobians: Explicit Form
Wed, Feb 4 Jacobians: Static Forces
Wed, Feb 4 Review 1 Group I (7-9pm, Gates 119)
Mon, Feb 9 Inverse Kinematics (Guest Lecturer: Torsten Kröger)
Mon, Feb 9 Review 1 Group II (7-9pm, Gates 119)
Wed, Feb 11 Trajectory Generation (Guest Lecturer: Torsten Kröger)
Mon, Feb 16 Holiday (President’s Day)
Wed, Feb 18 Midterm examination (in class)
Mon, Feb 23 Dynamics: Acceleration and Inertia
Wed, Feb 25 Dynamics: Explicit Form
Mon, Mar 2 Control: PID control
Wed, Mar 4 Control: Joint space control
Mon, Mar 9 Control: Operational space formulation & Force control
Mon, Mar 9 Review 2 Group I (7-9pm, Gates 119)
Wed, Mar 11 Advanced Topics
Wed, Mar 11 Review 2 Group II (7-9pm, Gates 119)
Mon, Mar 16 Final examination (12:15-3:15 pm)


Component Contribution to Grade
Homework 30%
Midterm 25%
Final 45%
Total 100%