CS327A: Advanced Robotic Manipulation

This course focuses on advanced control methodologies and novel design techniques for complex human-like robotic systems. It provides an extensive coverage of the task- oriented operational space formulation, and discusses its application to the challenges of interactive whole-body control of humanoid robots. The presentation of the material starts with the basic models and control structure of a simple robot arm and culminates with the most recent developments on the control of humanoid robots. The framework addresses various challenging problems, which include: (i) the motion coordination of the large number of degrees of humanoid robots; (ii) the effective control of their contacts and interactions with the environment; (iii) the maintenance of their internal and external constraints; (iv) and the strategies for dealing with their underactuation and balance. The above issues are all treated in a unified fashion within a general control structure that addresses the whole body dynamics for specifications involving multiple distributed tasks and postures in consistency with the requirements of multiple distributed contacts and constraints. Other fundamental issues in human centered robotics will be also examined in this course. These include: (i) the synthesis of human movements to produce human- like robot behaviors; (ii) the critical issue of robot safety and the design requirements for human-friendly robots that conceived to operate in human environments (iii) the elastic planning methodology for real-time modifications of existing motion plans; (iv) and various other efficient algorithms that address the computational challenges associated with human-like robotic structures. In addition to the lectures, this course includes reviews of papers on wide range of topics relevant to advanced robotics. These reviews, which are done by groups of students, will be presented at a mini- symposium held at the end of the quarter.


Mon, Wed 3.00-4.20pm.
Gates B12.

Course Reader

Available at the Bookstore starting Mar 25.

Office Hours

See below at Staff section.


Please sign up on Piazza .


Homework: 30%
Paper Review: 20%
Final (take-home): 50%


4 assignments.
All must be submitted in order to receive a grade. Late submissions require approval by the instructor.
Due @ midnight on Gradescope.


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Oussama Khatib


Office hours : After class, 4:30-5:30p
Gates 144
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Shameek Ganguly

Course Assistant

Office hours : Tue, Fri 2-3p
Gates B26


Date Lecture Handouts Homework
Mon, Apr 3 Course introduction
Wed, Apr 5 Kinematics, Dynamics [Lecture2-kinematics.pdf]
Mon, Apr 10 Operational space formulation [Lecture3+4-opspace+unifiedMFctrl.pdf]
Wed, Apr 12 Unified Motion/ Force control [Homework1.pdf] Due April 19
Mon, Apr 17 Redundancy [Lecture5-redundancy.pdf] [Homework1-Solution.pdf]
Wed, Apr 19 Inertial Properties [Lecture6-inertial.pdf] [Homework2.pdf] Due April 26
Mon, Apr 24 Cooperative Robots [Lecture7-cooperation.pdf] [Homework2-Solution.pdf]
Wed, Apr 26 Haptic Rendering (Guest Lecture) [Haptics.pdf] [Homework3.pdf] Due May 4
Mon, May 1 Mobile Manipulation [Lecture8+9-Mobile+Humanoids.pdf] [Homework3-Solution.pdf]
Wed, May 3 Humanoids
Mon, May 8 Elastic Planning [Lecture10-ElasticPlanning.pdf]
Wed, May 10 Human-Friendly Design [Lecture11-HumanFriendly.pdf] [Homework4.pdf] Due May 26
Mon, May 15 Reinforcement Learning (Guest Lecture) [Homework4-Solution.pdf]
Wed, May 17 Perception (Guest Lecture)
Mon, May 22 Robot Control Architectures
Wed, May 24 Interaction in the Lab
Mon, May 29 Holiday (Memorial Day)
Wed, May 31 Robot Skill Acquisition (Guest Lecture)
Mon, June 5 Review Discussion
Wed, June 7 Advanced Topics
Fri, June 9 Mini-Symposium (Location: TBD)
Fri, June 9 - Mon, June 12 Take-home finals (Time/Location: TBD)