CS225A: Experimental Robotics, Spring 2022

Class: Tue, Thu 3:15-4:45pm.

Please see the schedule below and monitor announcements.

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...


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Oussama Khatib


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Mikael Jorda


Office hours: Tue, Thu 5-6pm (Gates 287)
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Bo Kim

Course Assistant

Office hours: Mon 1-3pm (Gates 287)
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William Chong

Course Assistant

Office hours: Wed 3-5pm (Gates 287)


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%
Total 100%
Extra Credit: Contribute a self-sufficient robotics/programming module

    Designed by Samir Menon.
    © Stanford University.
    Last updated on Apr 9, 2021