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, Apr 2||Introduction and Course Review|
|Thu, Apr 4||Simulation and Graphics||Lecture 2||Homework 0 out.|
|Fri, Apr 5||Section: Setting up Control Environment|
|1:30-3:30pm in Gates 104|
|Tue, Apr 9||Kinematics||Lecture 3|
|Thu, Apr 11||Dynamics and Control||Lecture 4||Homework 0 due (solution). Homework 1 out.|
|Tue, Apr 16||Operational Space Framework|
|Thu, Apr 18||Specifying Multiple Control Tasks||Homework 1 due (solution). Homework 2 out.|
|Tue, Apr 23||Operational Space Control||Project groups and outline due.|
|Thu, Apr 25||Project Discussion||Lecture 5||Homework 2 due. Homework 3 out.|
|Tue, Apr 30||Lab Lecture: Introduction to Robots|
|Thu, May 2||Lab Lecture: Introduction to Robots||Homework 3 due.|
|Mon-Thurs, May 6-9||Office Hours: Individual Group Meetings|
|Tue, May 7||Lab Lecture: Experiments with Robots|
|Thu, May 9||Lab Lecture: Experiments with Robots|
|Mon-Wed, May 13-15||Office Hours: Individual Group Meetings|
|Tue, May 14||Project Updates||First project update presentation.|
|Thu, May 16||Project Updates|
|Tue, May 21||In-class Individual Group Meetings|
|Thu, May 23||In-class Individual Group Meetings|
|Tue, May 28||In-class Individual Group Meetings|
|Thu, May 30||In-class Individual Group Meetings|
|Tue, June 4||Final Project Updates||Second (final) project update presentation.|
|Thu, June 6||Project Demonstrations (start at 2:30pm)||Final report due Monday, June 10 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 June 6, 2019