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, Mar 30||Introduction and Course Review|
|Thu, Apr 1||Simulation and Graphics||Lecture 2|
|Fri, Apr 2||Section: Software Setup (1-4pm PDT)||Homework 0 out.|
|Tue, Apr 6||Kinematics and Dynamics I||Lecture 3|
|Thu, Apr 8||Kinematics and Dynamics II + Project Discussion||Lecture 4|
|Fri, Apr 9||Homework 1 out.|
|Mon, Apr 12||Homework 0 due.|
|Tue, Apr 13||Operational Space Formulation|
|Thu, Apr 15||Operational Space Control + Project Discussion|
|Fri, Apr 16||Homework 2 out.|
|Mon, Apr 19||Homework 1 due.|
|Tue, Apr 20||Compliant Motion Control|
|Thu, Apr 22||Task Redundancy Control I|
|Fri, Apr 23||Homework 3 out.|
|Mon, Apr 26||Homework 2 due.|
|Tue, Apr 27||Task Redundancy Control II + Project Overview|
|Thu, Apr 29||Project Proposal Presentations||Project proposal presentation due.|
|Mon, May 3||Homework 3 due.|
|Tue, May 4||Project Discussion|
|Thu, May 6||Project Discussion|
|Tue, May 11||Project Outline Presentations||Project outline presentation due.|
|Thu, May 13||Project Outline Presentations|
|Tue, May 18||Individual Group Meetings|
|Thu, May 20||Individual Group Meetings|
|Tue, May 25||Individual Group Meetings|
|Thu, May 27||Individual Group Meetings|
|Tue, June 1||Project Demonstrations|
|Thu, June 3||(Optional) Class Discussion|
|Fri, June 4||Final report due Friday, June 4 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 Apr 9, 2021