CS225A Experimental Robotics

The Quadcoptor Catching Project

The UAV Hunter Project

The Pourbot Project

The JediBot Project

The SnookerBot Project

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...

Staff

Oussama Khatib

Instructor

Webpage

Office hours: Tue, Thu 4-5pm

Adrian Piedra

Course Assistant

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

William Chong

Course Assistant

Office hours: Wed 3-5pm

Timeline

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.

Grading

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