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...
|Date||Lecture||Handouts||Homework / Deadlines|
|Tue, Apr 4||Introduction and Course Review||Homework 0 out.|
|Thu, Apr 6||Simulation and Graphics||Lecture 2|
|Fri, Apr 7||Section: Setting up Control Environment|
|Tue, Apr 11||Kinematics||Lecture 3||Homework 0 due. Homework 1 out.|
|Thu, Apr 13||Dynamics and Control|
|Fri, Apr 14||Section: Homework Discussion|
|Tue, Apr 18||Operational Space Control||Homework 1 due. Homework 2 out.|
|Thu, Apr 20||Specifying Multiple Control Tasks|
|Fri, Apr 21||Section: Finalizing Groups and Homework Discussion|
|Tue, Apr 25||Orientation Control||Homework 2 due. Homework 3 out.|
|Thu, Apr 27||No Lecture - Project Discussion||Project groups and outline due.|
|Fri, Apr 28||Section: Homework Discussion|
|Tue, May 2||Lab Lecture: Experiments with Robots||Homework 3 due.|
|Thu, May 4||Class Discussion and Finalizing Projects||Detailed project plan due.|
|Fri, May 5||Section: Group Setup on Robots|
|Tue, May 9||Fine Tuning and Customizing Controller Specifications|
|Thu, May 11||Control Review and Trajectory Generation|
|Fri, May 12||Section: Project Discussion|
|Tue, May 16||No Lecture|
|Thu, May 18||Project Review and Milestone I||Milestone I report due.|
|Fri, May 19||Section: Project Discussion|
|Tue, May 23||No Lecture|
|Thu, May 25||No Lecture|
|Fri, May 26||Section: Project Discussion|
|Tue, May 30||No Lecture|
|Thu, June 1||Project Review and Milestone II||Milestone II report due.|
|Fri, June 2||Section: Project Discussion|
|Tue, June 6||No Lecture|
|Thu, June 8||Project Demonstrations||Final report due Sat, June 10 at 6:30pm.|
|Component||Contribution to Grade|
|Final Project Demonstration||50%|
|Final Project Report||10%|
|Extra Credit: Contribute a self-sufficient robotics/programming module|
Designed by Samir Menon.
© Stanford University.
Last updated on Mar 29, 2017