CS225A : Experimental Robotics, Spring 2016-17

Class : Tue, Thu 3:00-4:20pm. Gates B12.

Section : Fri 10:00-11:30am. Gates 119 (Robotics Lab).

Lab lectures/demonstrations will be at Gates 119 (See schedule; 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


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Toki Migimatsu

Course Assistant

Office hours: Mon, Wed 1:30-3:00pm
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Robert Sun

Course Assistant

Office hours: Tue, Thu 1:30-3:00pm


Date Lecture Handouts Homework / Deadlines
Tue, Apr 4 Introduction and Course Review Homework 0 out.
Thu, Apr 6 Simulation and Graphics Lecture 2
Fri, Apr 7 Section: Setting up Control Environment
Tue, Apr 11 Kinematics Lecture 3 Homework 0 due. Homework 1 out.
Thu, Apr 13 Dynamics and Control
Fri, Apr 14 Section: Homework Discussion
Tue, Apr 18 Operational Space Control Homework 1 due. Homework 2 out.
Thu, Apr 20 Specifying Multiple Control Tasks
Fri, Apr 21 Section: Finalizing Groups and Homework Discussion
Tue, Apr 25 Orientation Control Homework 2 due. Homework 3 out.
Thu, Apr 27 No Lecture - Project Discussion Project groups and outline due.
Fri, Apr 28 Section: Homework Discussion
Tue, May 2 Lab Lecture: Experiments with Robots Homework 3 due.
Thu, May 4 Class Discussion and Finalizing Projects
Fri, May 5 Section: Group Setup on Robots
Tue, May 9 Fine Tuning and Customizing Controller Specifications
Thu, May 11 Control Review and Trajectory Generation
Fri, May 12 Section: Project Discussion
Tue, May 16 No Lecture
Thu, May 18 No Lecture
Fri, May 19 Section: Project Discussion
Tue, May 23 Project Review and Milestone I Milestone I report due.
Thu, May 25 No Lecture
Fri, May 26 Section: Project Discussion
Tue, May 30 No Lecture
Thu, June 1 No Lecture
Fri, June 2 Section: Project Discussion
Tue, June 6 No Lecture
Thu, June 8 Project Demonstrations Final report due Monday, June 12 at 11:59pm.


Component Contribution to Grade
Homework 40%
Final Project 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 Mar 29, 2017