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...
|Date||Lecture||Handouts||Homework / Deadlines|
|Tue, Sep 15||Introduction and Course Review|
|Thu, Sep 17||Simulation and Graphics||Lecture 2|
|Fri, Sep 18||Section: Software Setup (1-3pm PDT)||Homework 0 out.|
|Tue, Sep 22||Kinematics and Dynamics I||Lecture 3|
|Thu, Sep 24||Kinematics and Dynamics II + Project Discussion|
|Fri, Sep 25||Homework 0 due (solution). Homework 1 out.|
|Tue, Sep 29||Operational Space Formulation||Lecture 4|
|Thu, Oct 1||Operational Space Control + Project Discussion|
|Fri, Oct 2||Homework 2 out.|
|Mon, Oct 5||Homework 1 due (solution).|
|Tue, Oct 6||Compliant Motion Control||Lecture 5|
|Thu, Oct 8||Task Redundancy Control I||Lecture 6|
|Fri, Oct 9||Homework 3 out.|
|Mon, Oct 12||Homework 2 due (solution).|
|Tue, Oct 13||Task Redundancy Control II + Project Overview||Lecture 7|
|SAI Environment Demo|
|Thu, Oct 15||Project Proposal Presentations||Project proposal presentation due.|
|Mon, Oct 19||Homework 3 due (solution).|
|Tue, Oct 20||Project Discussion|
|Thu, Oct 22||Project Discussion|
|Tue, Oct 27||Project Outline Presentations||Project outline presentation due.|
|Thu, Oct 29||Project Outline Presentations|
|Tue, Nov 3||(Optional) Drop-in Help Session|
|Thu, Nov 5||Individual Group Meetings|
|Tue, Nov 10||Individual Group Meetings|
|Thu, Nov 12||Individual Group Meetings|
|Tue, Nov 17||Project Demonstrations (time TBA)|
|Thu, Nov 19||Project Report Presentations||Final report due Friday, Nov 20 at 11:59pm.|
|Component||Contribution to Grade|
|Final Project Progression, Updates, and Demonstration||50%|
|Final Project Report||10%|
|Extra Credit: Contribute a self-sufficient robotics/programming module|
Designed by Samir Menon.
© Stanford University.
Last updated on Oct 22, 2020