CS225A: Experimental Robotics, Spring 2024

Class: Tue, Thu 3:00-4:20pm.

Please see the schedule below 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...


Generic placeholder image

Oussama Khatib


Office hours: 4:30-5:30pm, Tue + Thu (Gates 203)
Generic placeholder image

Adrian Piedra

Course Assistant

Office hours: 4:30-5:30pm, Tue (Gates 304) + Thu (Gates 200)
Generic placeholder image

William Chong

Course Assistant

Office hours: 1-3pm, Wed (Gates 200)
Generic placeholder image

Chinmay Devmalya

Course Assistant

Office hours: 9:30-11:30am, Fri (Gates 200)


Date Lecture Handouts Homework / Deadlines
Tue, Apr 02 Introduction & Course Review
Thu, Apr 04 Simulation & Graphics
Fri, Apr 05 Software Setup (Time and Location TBD) Homework 0 out.
Tue, Apr 09 Operational Space Dynamics
Thu, Apr 11 Operational Space Control + Project Discussion
Fri, Apr 12 Homework 0 due. Homework 1 out.
Tue, Apr 16 Compliant Motion Control
Thu, Apr 18 Task Redundancy Control I + Project Discussion Initial project idea list + team assignment due before class.
Fri, Apr 19 Homework 1 due. Homework 2 out.
Tue, Apr 23 Project Discussion
Thu, Apr 25 Project Discussion
Fri, Apr 26 Homework 2 due. Homework 3 out.
Tue, Apr 30 Task Redundancy Control II + Project Discussion
Thu, May 02 Project Proposal Presentations Project proposal presentations due before class.
Tue, May 07 Project Proposal Short Updates
Thu, May 09 Lab Demos (in Gates 203)
Tue, May 14 Project Outline Presentation (Group A) Project outline presentation due before class.
Thu, May 16 Project Outline Presentation (Group B)
Tue, May 21 Project Updates (Group A)
Thu, May 23 Project Updates (Group B)
Tue, May 28 Project Support Meetings
Thu, May 30 Project Support Meetings
Mon, Jun 03 Final Projection Presentations and Demos (in Gates 203) Final report guidelines out.
Tue, Jun 11 Final reports and videos due.


Component Contribution to Grade
Homework (2 free late days; 20% deduction per late day up to 2 late days maximum per assignment) 40%
Final Project Progression, Updates, and Demonstration 50%
Final Project Report 10%
Total 100%

    Designed by Samir Menon.
    © Stanford University.
    Last updated on Apr 10, 2023