CS225A : Experimental Robotics, Spring 2015-16

Class : Tue, Thu 3:00-4:20pm. Gates B12.

Section : Fri 2:00-3:20pm. Gates 119 (Robotics Lab).

Lab lectures/demonstrations will be at Gates 119 (See schedule; join the piazza group and monitor announcements).

Please sign up for Piazza if you have not already.

The goal of this class is to introduce you to the intricate art of programming articulated robots. The course will review the basics of control theory in the first half of the quarter, and will require groups of three to four students to implement a motor task on one of our available robotic manipulators. Most projects involve some aspect of robot control, computer vision, and potentially some mechanical engineeering, so teams should ideally posess programming as well as some mechanical expertise.

The choice of project is yours! We expect great things!


Oussama Khatib


Bo Kim

Course Assistant
Office hours : Thu 1:30-3:00pm
Location: Gates 120

Mikael Jorda

Course Assistant
Office hours : Wed 10:30am-12:00pm
Location: Gates 120

Keegan Go

Course Assistant
Office hours : Fri 10:00-11:30am
Location: Gates 120


Date Lecture Handouts Homework (all due @ 11:59pm)
Tue, Mar 29 Introduction & Course Review
Thu, Mar 31 Simulation Slides, Last Year's Homework 0, Due Apr 8.
Fri, Apr 1 Section: Set up Control Environment SCL Wiki, for mac CAs: Keegan, Mikael
Tue, Apr 5 Kinematics, Dynamics
Thu, Apr 7 Code + projects project+code Homework 1. Due Apr 15.
Fri, Apr 8 Section: Dynamics & Hw Section 2 CAs: Mikael Jorda
Tue, Apr 12 Software + Operational Space SCL,OpSpace
Thu, Apr 14 Project meetings in Gates 119 (see schedule) Homework 2. Due Apr 22.
Fri, Apr 15 Section: Troubleshooting control & Finalizing Groups Sec-control.pdf CAs:
Tue, Apr 19 Potential fields and projects Lec7.pdf Project groups & outline due
Thu, Apr 21 Lab Lecture: Experiments with Robots Lec8.pdf Homework 3. Due Apr 29
Fri, Apr 22 Section: Homework discussion Sec-robots.pdf CAs:
Tue, Apr 26 Orientation Control Discuss project options with TAs
Thu, Apr 28 Class Discussion & Finalizing Projects Detailed project plan due
Fri, Apr 29 Section: Rendering objects in scl Example CAs:
Thu, May 5 Control review & trajectory generation Lec10.pdf
Thu, May 12 Project review & Milstone I
Thu, May 19 Short report due
Thu, May 26 Demo for TAs CAs:
Fri, June 3 Final report Project due


Component Contribution to Grade
Homework 40%
Final Project 50%
Final Project Report 10%
Total 100%
Extra Credit : Contribute a self-sufficient robotics/programming module

    Designed by Samir Menon.
    © Stanford University.
    Last updated on Mar 30, 2015