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, Mar 29||Introduction and Course Review|
|Thu, Mar 31||Simulation and Graphics|
|Fri, Apr 1||Section: Software Setup (1-4pm PDT)||Homework 0 out.|
|Tue, Apr 5||Kinematics|
|Thu, Apr 7||Dynamics + Project Discussion|
|Fri, Apr 8||Homework 1 out.|
|Mon, Apr 11||Homework 0 due.|
|Tue, Apr 12||Operational Space Formulation I|
|Thu, Apr 14||Operational Space Formulation II + Project Discussion|
|Fri, Apr 15||Homework 2 out.|
|Mon, Apr 18||Homework 1 due.|
|Tue, Apr 19||Impedance + Operational Space Control|
|Thu, Apr 21||Operational Space Control II + Project Discussion||Project proposal presentation due.|
|Fri, Apr 22||Homework 3 out.|
|Mon, Apr 25||Homework 2 due.|
|Tue, Apr 26||Compliant Control|
|Thu, Apr 28||Project Proposal Presentations|
|Mon, May 2||Homework 3 due. (Moved To May 9)|
|Tue, May 3||Multi-Task Control|
|Thu, May 5||Lab Demos (Outside Gates 208)|
|Tue, May 10||Project Progress Presentations (Class)||Project outline presentation due.|
|Thu, May 12||Individual Group Meetings (Zoom)|
|Tue, May 17||Individual Group Meetings (Zoom)|
|Thu, May 19||Project Progress Presentation (Class)|
|Tue, May 24||Individual Group Meetings (Zoom)|
|Thu, May 26||Flexiv Presentation (Class)|
|Tue, May 31||Project Demonstrations (Outside Gates 208)|
|Thu, June 2||Project Report Presentations (Class)|
|Fri, June 3||Final report due Friday, June 3 at 11:59pm.|
|Component||Contribution to Grade|
|Homework (2 free late days; 20% deduction per late day up to 2 late days maximum per assignment)||40%|
|Final Project Progression, Updates, and Demonstration||50%|
|Final Project Report||10%|
|Extra Credit: Contribute a self-sufficient robotics/programming module|
Designed by Samir Menon.
© Stanford University.
Last updated on Apr 9, 2021