This course provides an introduction to physics-based design, modeling, and control of robotic systems, in particular of robotic arms. You will learn basic methodologies and tools, and build a solid foundation that will enable you to move forward in both robotic research (CS327A, CS326) and applications (CS225A). Concepts that will be covered in the course are Spatial Transformations; Forward and Inverse Kinematics of Robots; Jacobians; Robot Dynamics, Joint, Cartesian, Operational Space and Force Control as well as Vision-based Control.
After taking the class, students will be able to
All learning outcomes are assessed by homework assignments and a midterm.
Mon & Wed from 4:00-5:20pm
Lectures conducted remotely over Zoom (link on Canvas)
Available at the Bookstore.
Additionally this course uses a Piazza forum which can be found here. Here you can ask questions about the homework, the exams, and class material in general.
Midterm (in class): 30%
There are 7 assignments, total worth 70% of your final grade.
Due @ 11:59 PM on Thursdays on Gradescope (the class code is BP2P65).
|Mon, Jan 11||Introduction|
|Wed, Jan 13||Spatial Descriptions I|
|Thu, Jan 14||HW 1 Out|
|Friday, Jan 15||Review - Essential Math (4:00pm-5:20pm)|
|Mon, Jan 18||Holiday (Martin Luther King, Jr., Day)|
|Wed, Jan 20||Spatial Descriptions II|
|Thu, Jan 21||HW 1 Due, HW 2 Out|
|Mon, Jan 25||Forward Kinematics|
|Wed, Jan 27||Jacobians I (Introduction)|
|Thu, Jan 28||HW 2 Due, HW 3 Out|
|Mon, Feb 01||Jacobians II (Explicit Form)|
|Wed, Feb 03||Jacobians III (Singularities)|
|Thu, Feb 04||HW 3 Due, HW 4 Out|
|Fri, Feb 05||Review - Essential Physics (4:00pm-5:20pm)|
|Mon, Feb 08||Robot Dynamics I (Introduction)|
|Wed, Feb 10||Robot Dynamics II (Explicit Form)|
|Thu, Feb 11||HW 4 Due, HW 5 Out|
|Mon, Feb 15||Holiday (President's Day)|
|Wed, Feb 17||Perception for Manipulation (Guest Lecture, Prof. Jeannette Bohg)|
|Thu, Feb 18||HW 5 Due|
|Mon, Feb 22||Robot Design|
|Wed, Feb 24||Midterm|
|Mon, Mar 01||Inverse Kinematics and Workspace|
|Wed, Mar 03||Joint Space Control|
|Thu, Mar 04||HW 6 Out|
|Mon, Mar 08||Operational Space Control|
|Wed, Mar 10||Artificial Potential Fields|
|Thu, Mar 11||HW 6 Due, HW 7 Out|
|Mon, Mar 15||Compliant Motion Control|
|Wed, Mar 17||Advanced Topics|
|Thu, Mar 18||HW 7 Due|
The course website will be on Canvas. All course materials will be shared through the Canvas website, including important class announcements from the Teaching Staff. All assignments should be submitted via Gradescope. If you have a question, to get a response from the teaching staff quickly we strongly encourage you to post it to the class Piazza. This is a great place to ask questions of the staff, as well as share information among your peers. For private matters, please make a private note visible only to the course instructors. For longer discussions with CA's, we strongly encourage you to come to office hours. To strengthen the background knowledge of students on essential math and physics concepts used throughout the class, we have several review sessions throughout the quarter that we strongly encourage students to attend.
There will be 7 homework problem sets that are pen-and-paper exercises. Their purpose is to practice the concepts covered in class by applying them to different robotics-related example problems. All assignments will be submitted to Gradescope by 11:59pm on the due date. Sign up for the course using entry code BP2P65.
Although group discussion and work is encouraged, each student should submit their own assignment and perform any necessary calculations on their own.
There will be a midterm for this course, which will be open book and open notes. It will include similar problems to those you have encountered in the homework, and will additionally include problems and questions covering the content from the lectures. TA review sessions will help you to prepare for the exam.
Midterm (in class): 30%
Each student will have a total of
Regrades will also be handled through Gradescope. We will begin to accept regrades for an assignment the day after grades are released for a window of three days. We will not accept regrades for an assignment outside of that window. Regrades are intended to remedy grading errors, so regrade requests must discuss why you believe your answer is correct in light of the deduction you received. We do not accept regrade requests of the form "I deserve more points for this" or "that deduction is too harsh."
The Course Reader is available at the bookstore.
Students who may need an academic accommodation based on the impact of a disability must initiate the request with the Office of Accessible Education (OAE). Professional staff will evaluate the request with required documentation, recommend reasonable accommodations, and prepare an Accommodation Letter for faculty dated in the current quarter in which the request is made. Students should contact the OAE as soon as possible since timely notice is needed to coordinate accommodations. The OAE is located at 563 Salvatierra Walk (phone: 723-1066, URL: http://studentaffairs.stanford.edu/oae).
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It is Stanford’s statement on academic integrity first written by Stanford students in 1921. It articulates university expectations of students and faculty in establishing and maintaining the highest standards in academic work. It is agreed to by every student who enrolls and by every instructor who accepts appointment at Stanford.
The Honor Code states: