CS225A: Experimental Robotics, Autumn 2020-21

Class: Tue, Thu 2:30-3:50pm.

Please see the schedule below, join the piazza group, and monitor announcements.

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...


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Oussama Khatib


Office hours: Tue, Thu 4-5pm
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Adrian Piedra

Course Assistant

Office hours: Mon 2-3pm, Tue 1:30-2:30pm
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William Chong

Course Assistant

Office hours: Wed 3-5pm


Date Lecture Handouts Homework / Deadlines
Tue, Sep 15 Introduction and Course Review
Thu, Sep 17 Simulation and Graphics
Fri, Sep 18 Section: Software Setup (1-3pm PDT)
Tue, Sep 22 Kinematics and Dynamics I
Thu, Sep 24 Kinematics and Dynamics II + Project Discussion
Fri, Sep 25
Tue, Sep 29 Operational Space Formulation
Thu, Oct 1 Operational Space Control + Project Discussion
Fri, Oct 2
Mon, Oct 5
Tue, Oct 6 Compliant Motion Control
Thu, Oct 8 Task Redundancy Control I
Fri, Oct 9
Mon, Oct 12
Tue, Oct 13 Task Redundancy Control II + Project Overview
Thu, Oct 15 Project Proposal Presentations Project proposal presentation due.
Mon, Oct 19
Tue, Oct 20 Project Discussion
Thu, Oct 22 Project Discussion
Tue, Oct 27 Project Outline Presentations
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
Thu, Nov 19 (Optional) Class Discussion


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

    Designed by Samir Menon.
    © Stanford University.
    Last updated on Nov 9, 2020