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...
Staff
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
Timeline
| 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. | ||
Grading
| 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