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...
Office hours : Mon: 3:30-5:00p
Office hours : Fri: 1:00-2:30p
Office hours : Wed: 3:30-5:00p
|Date||Lecture||Handouts||Homework (all due @ 11:59pm)|
|Tue, Mar 31||Introduction & Course Review|
|Thu, Apr 2||Simulation and Graphics||Lec-1.pdf||Homework 0, Due Apr 12.|
|Fri, Apr 3||Section: Set up Linux & Control Environment||(see the Wiki)||CAs:|
|Tue, Apr 7||Kinematics|
|Thu, Apr 9||Dynamics & Control||(see Kinematics notes)||Homework 1. Due Apr 19.|
|Fri, Apr 10||Section: Dynamics & Hw||session1.zip||CAs:|
|Tue, Apr 14||Operational Space Control|
|Thu, Apr 16||Lab Lecture: Fine-Tuning Controllers for Real Robots||Homework 2. Due Apr 26.|
|Fri, Apr 17||Section: Troubleshooting control & Finalizing Groups||Sec-control.pdf||CAs:|
|Tue, Apr 21||Lab Lecture: Trajectory Generation & Haptic Teleoperation||Project groups & outline due|
|Thu, Apr 23||Lab Lecture : Experiments with Robots||Homework 3. Due May 3|
|Fri, Apr 24||Section: Controlling real robots||Sec-robots.pdf||CAs:|
|Tue, Apr 28||Operational Space Control II||Discuss project options with TAs|
|Thu, Apr 30||Class Discussion & Finalizing Projects||Detailed project plan due|
|Fri, May 1||Section: Project Critique & Discussion||CAs:|
|Thu, May 14||Project Review & Milestone I||Short report due|
|Fri, May 15||Section: Project Discussion||CAs:|
|Fri, May 22||Section: Project Discussion||CAs:|
|Fri, May 29||Project Review & Milestone II||Short report due|
|Thu, June 4||Project demonstrations|
|Tue, June 9||Web project report||Full report due|
|Legend||Green : Current class. Gray : Section. Yellow : Final project.|
|Component||Contribution to Grade|
|Final Project Demonstration||50%|
|Final Project Web Report||10%|
|Extra Credit : Contribute a self-sufficient robotics/programming module|
Designed by Samir Menon.
© Stanford University.
Last updated on Mar 30, 2015