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 (implementation and pen and paper) as well as through the midterm and final exam.
Mon & Wed from 4:30-5:50pm
Available at the Bookstore.
Please sign up on Piazza.
Midterm (in class): 25%
Final (in class): 39%
There are 6 assignments, 6% each. These are pen and paper as well as coding assignments.
Due @ 4:30pm on Gradescope. - (class code is 9N85R4).
|Mon, Jan 8||Introduction & Course Review||pp. 1-5|
|Wed, Jan 10||Spatial Transformations||HW1 out||pp. 5-18|
|Friday, Jan 12||Review - Essential Math (4:30pm-5:50pm)||pp. 21-34|
|Mon, Jan 15||Holiday (Martin Luther King)|
|Wed, Jan 17||DH Parameters||pp. 18-21; pp. 41-56|
|Mon, Jan 22||Forward Kinematics||pp. 46-60|
|Wed, Jan 24||Jacobians||HW1 due, HW2 out||pp. 95-117|
|Mon, Jan 29||Jacobian Inverse/ Jacobian Transpose||pp. 117-133|
|Wed, Jan 31||Jacobian Transpose||HW2 due, HW3 out||pp. 117-133|
|Mon, Feb 5||Jacobian Inverse / Inverse Kinematics||pp. 69-74, 77-88|
|Wed, Feb 7||Robot Dynamics||HW3 due||Chapter 5|
|Thur, Feb 8||Midterm Review Group I (6.00-8.00p, Gates 219/415)|
|Friday, Feb 9||Midterm Review Group II (6.00-8.00p, Gates 104/219)|
|Mon, Feb 12||Midterm Examination (in class)|
|Wed, Feb 14||Robot Dynamics Cont'||Chapter 5|
|Fri, Feb 16||Review - Essential Physics (4:30pm-5:50pm)|
|Mon, Feb 19||President's Day|
|Wed, Feb 21||Gravity Compensation||HW4 out||Chapter 5|
|Mon, Feb 26||Joint Space Control; PD/ID, Inverse Dynamics Control|
|Wed, Feb 28||Jacobian Transpose/ Force Control||HW4 due, HW5 out|
|Mon, Mar 5||Resolved Motion Rate Control/ Damped Least Squares|
|Wed, Mar 7||Operational Space Control||HW5 due, HW6 out|
|Mon, Mar 12||Nullspace / Potential Fields|
|Wed, Mar 14||Visual Servoing||HW6 due|
|Thr, Mar 15||Exam Review Group I (6.00-8.00p, 219/415)|
|Fri, Mar 16||Exam Review Group II (6.00-8.00p, Gates 104/219)|
|Fri, Mar 23||Final Examination (3.30-6.30)|
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 TAs and to get help in person, 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 6 homework problem sets that are partially pen & paper and coding exercises. Their purpose is to practice the concepts covered in class by applying them to different problems and visualize them in the robot simulation. The coding assignments will generally require to program in python. We provide a coding harness to test the implementation using the simulator/visualizer used in class. All assignments will be submitted to Gradescope by 4:30pm on the due date. Sign up for the course using entry code 9N85R4. Code will be graded using the Gradescope autograder.
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 both midterm and final exams for this course, held in-class. They are open book and open notes. Electronic devices are not allowed. They 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 exams.
Midterm (in class): 25%
Final (in class): 39%
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 O!ice 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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