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-2.pdf||Homework 0, Due Apr 12. Solutions|
|Fri, Apr 3||Section: Set up Linux & Control Environment||(see the Wiki)||CAs: All|
|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: Keegan Go, Wanxi Liu|
|Tue, Apr 14||Operational Space Control|
|Thu, Apr 16||Lab Lecture: Experiments with Robots||Homework 2. Due Apr 26.|
|Fri, Apr 17||Section: Troubleshooting control & Finalizing Groups||Sec-control.pdf||CAs: Inrak Choi, Wanxi Liu|
|Tue, Apr 21||Fine tuning and customizing controller specifications||Lec7.pdf||Project groups & outline due|
|Thu, Apr 23||Specifying multiple control tasks||Lec8.pdf||Homework 3. Due May 3|
|Fri, Apr 24||Section: Homework discussion||Sec-robots.pdf||CAs: Inrak Choi, Keegan Go|
|Tue, Apr 28||Orientation Control||Discuss project options with TAs|
|Thu, Apr 30||Class Discussion & Finalizing Projects||Detailed project plan due|
|Fri, May 1||Section: Rendering objects in scl||Example||CAs: Keegan Go|
|Thu, May 7||Control review & trajectory generation||Lec10.pdf|
|Thu, May 8||Control review & trajectory generation||Example|
|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