CS327A : Advanced Robotic Manipulation, Winter 2015

Class : Mon, Wed 2.15-3.30pm. Gates B01.

Course Reader available at the Bookstore.

Office Hours location: Gates 119/120. (AI Lab Open Area / Fishbowl.)

This course focuses on advanced control methodologies and novel design techniques for complex human-like robotic systems. It provides an extensive coverage of the task- oriented operational space formulation, and discusses its application to the challenges of interactive whole-body control of humanoid robots. The presentation of the material starts with the basic models and control structure of a simple robot arm and culminates with the most recent developments on the control of humanoid robots. The framework addresses various challenging problems, which include: (i) the motion coordination of the large number of degrees of humanoid robots; (ii) the effective control of their contacts and interactions with the environment; (iii) the maintenance of their internal and external constraints; (iv) and the strategies for dealing with their underactuation and balance. The above issues are all treated in a unified fashion within a general control structure that addresses the whole body dynamics for specifications involving multiple distributed tasks and postures in consistency with the requirements of multiple distributed contacts and constraints. Other fundamental issues in human centered robotics will be also examined in this course. These include: (i) the synthesis of human movements to produce human- like robot behaviors; (ii) the critical issue of robot safety and the design requirements for human-friendly robots that conceived to operate in human environments (iii) the elastic planning methodology for real-time modifications of existing motion plans; (iv) and various other efficient algorithms that address the computational challenges associated with human-like robotic structures. In addition to the lectures, this course includes reviews of papers on wide range of topics relevant to advanced robotics. These reviews, which are done by groups of students, will be presented at a mini- symposium held at the end of the quarter.


Oussama Khatib

Office hours : Mon Wed 4:00-5:00 Webpage

Gerald Brantner

Course Assistant
Office hours : Thursday 1:00-3:00


Date Lecture Handouts Homework (all due @ 4pm. Box in front of Gates 144)
Mon, Mar 30 Course Introduction
Wed, Apr 1 Kinematics, Dynamics Kinematics-15.pdf
Mon, Apr 6 Operational Space Formulation Operational.pdf Homework 1 - Due April 13.
Wed, Apr 8 Unified Motion / Force Control Compliant.pdf
Mon, Apr 13 Redundancy Redundancy.pdf Homework 2 - Due April 22.
Wed, Apr 15 Inertial Properties Inertial-properties.pdf
Mon, Apr 20 Haptics
Wed, Apr 22 Human Task Representation
Mon, Apr 27 Cooperative Robots
Wed, Apr 29 Moble Manipulation Homework Sim - Due May 11.
Mon, May 4 Humanoid Robots Humanoids.pdf
Wed, May 6 Human Motion Analysis
Mon, May 11 Elastic Planning elastic.pdf Homework Sim2 - Due May 20.
Wed, May 13 Human Friendly Design
Mon, May 18 Robot Control Architectures
Wed, May 20 Robot Skill Acquisition
Mon, May 25 Memorial Day (no class)
Wed, May 27 Tactile Perception
Fri, Jun 5 Mini-Symposium
TBD Take-Home Final


Component Contribution to Grade
Homework 30%
Paper Review 20%
Take-home Final Exam 50%
Total 100%