CS327A — Advanced Robotics
Spring Quarter 2012
| Instructor | Prof. Oussama Khatib This e-mail address is being protected from spambots. You need JavaScript enabled to view it Room Gates 144 Office hours: Wed 4-5pm |
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| Assistant | Gerald Brantner This e-mail address is being protected from spambots. You need JavaScript enabled to view it Office hours: Tue, Thu, 10:00-11:00am Gates Fishbowl |
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| Lectures | Gates B12 Mon, Wed, 2:15-3:30pm |
Schedule
| Mon, April 02 | Course Introduction |
| Wed, April 04 | Kinematics |
| Mon, April 09 | Inverse Kinematics |
| Wed, April 11 | Operational Space Dynamics |
| Mon, April 16 | Unified Motion/Force Control |
| Wed, April 18 | Redundancy |
| Mon, April 23 | Inertial Properties |
| Wed, April 25 | Cooperative |
| Mon, April 30 | Humanoids |
| Wed, May 02 | Whole Body Control |
| Mon, May 07 | Human-Motion Analysis |
| Wed, May 09 | Operational Space Recursive Algorithms |
| Mon, May 14 | Haptics |
| Wed, May 16 | Tactile Perception |
| Mon, May 21 | Elastic Planning |
| Wed, May 23 | Robot Design |
| Mon, May 28 | Memorial Day (no class) |
| Wed, May 30 | Robot Control Architectures |
| Mon, June 04 | Review |
| Fri, June 08 | Mini-Symposium |
| Sat, June 09 | Take-Home Final |
Course Format and Grading
Lectures (75%), Paper Reviews (25%)
Homework (30%), Review (20%), Final (50%)
Reading
The course reader is mandatory and available at the bookstore.
In addition, we will distribute the slides prior to each class.
Handouts
| Syllabus pdf |
| 1 Kinematics pdf |
| 2 Inverse Kinematics pdf |
| 3 Operational Space Dynamics pdf |
| 4 Compliant Motion Control pdf |
| 5 Redundancy pdf |
| 6 Inertial Properties / Cooperation pdf |
Homework
| Homework 1 pdf |
| Homework 2 pdf |
| Homework 3 pdf |
| Homework 4 pdf |