CS 223-A

Introduction to Robotics

CS 223-A introduces students to the basics of kinematics, dynamics, and control. Students learn generalized coordinates, articulated body kinematics, affine transformations, DH parameters, inverse kinematics, dynamics, and PID control.

Class Site: CS 223-A

CS 225-A

Experimental Robotics

CS 225-A lets students apply basic robot control concepts to control real robots. Students review generalized coordinates, articulated body kinematics, affine transformations, DH parameters, inverse kinematics, dynamics, and PID control. After reviewing theory, students undertake a major project of their own design, which typically involves programming controllers for a variety of tasks.

Class Site: CS 225-A

CS 327-A

Advanced Robotics

CS 327-A introduces students to dynamics model based non-linear control. Students learn dynamics in different coordinate spaces, subspace projections, redundancy resolution, hybrid force-position control, multi-task control, whole-body control, bimanual manipulation, and multi-contact control.

Class Site: CS 327-A