CS225A : Experimental Robotics, Fall 2014

Class : Tue, Thu 3.15-4.30pm. Gates B12.

Section : Fri 10.00-11.30am. Gates 119 (Robotics Lab).

Snacks & discussion will be at Gates 119 (See schedule).

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...


Oussama Khatib


Samir Menon

Guest Lecturer

Xiyang Yeh

Course Assistant
Office hours : Mon: 3:30-4:30p

Gerald Brantner

Course Assistant
Office hours : Mon: 2:30-3:30p

Chen Bai

Course Assistant
Office hours : Tue/Thu 4:30-5.15p

Brian Soe

Course Assistant
Office hours : Tue/Thu 4:30-5.15p


Date Lecture Handouts Homework (all due @ 11:59pm)
Tue, Sep 23 Introduction & Course Review
Thu, Sep 25 Kinematics Lec2.pdf Homework 0. Due Oct 2. Solutions.
Fri, Sep 26 Section: Set up Linux & Control Environment (see the Wiki) CAs: CB, XY
Tue, Sep 30 Dynamics & Control (see Lec 2 notes)
Thu, Oct 2 Snacks & Discussion: Simulation and Graphics Lec4.pdf Homework 1, Due Oct9. Solutions.
Fri, Oct 3 Section: Dynamics & Hw session1.zip CAs: BS, CB
Tue, Oct 7 Snacks & Discussion: Fine-Tuning Controllers for Real Robots Lec5.pdf Project groups & outline due
Thu, Oct 9 Snacks & Discussion: Trajectory Generation & Haptic Teleoperation Lec6.pdf Homework 2. Due Oct 16.
Fri, Oct 10 Section: Troubleshooting control & Finalizing Groups Sec-control.pdf CAs: BS, GB
Tue, Oct 14 Operational Space Control & Project Announcement Lec7.pdf
Thu, Oct 16 Lab Experiments with Robots Lec8.pdf Homework 3. Due Oct 30
Fri, Oct 17 Section: Controlling real robots Sec-robots.pdf CAs: GB (haptics), XY (puma)
Tue, Oct 21 Operational Space Control II Lec9.pdf Discuss project options with TAs
Thu, Oct 23 Snacks & Discussion: Finalizing Projects Detailed project plan due
Fri, Oct 24 Section: Project Critique & Discussion CAs: BS, CB, GB, XY
Thu, Nov 6 Project Review & Milestone I Short report due
Fri, Nov 14 Section: Project Discussion CAs: TBD
Fri, Nov 21 Section: Project Discussion CAs: TBD
Nov 24-28 Thanksgiving break
Mon, Dec 1 Project Review & Milestone II Short report due
Thu, Dec 4th Project demonstrations
Thu, Dec 11 Web project report Full report due
Legend Green : Current class. Gray : Section. Yellow : Final project.


Component Contribution to Grade
Homework 40%
Final Project Demonstration 50%
Final Project Web Report 10%
Total 100%
Extra Credit : Contribute a self-sufficient robotics/programming module

    Designed by Samir Menon.
    © Stanford University.
    Last updated on Sep 21, 2014