Please note:
• Reading should be done before class.
• All the reading material is covered on exams, so please make sure to bring questions about it to class.
• Due dates are the night before the listed class. For example, assignment 1 is due on February 21 at 11:59pm, the night before the 2/22 class.
The schedule is tentative and subject to change.
| Class | Date | Topic / slides | Readings | homework | Handouts/notes/links |
|---|---|---|---|---|---|
| 1 (T) | Jan 30 | Introduction and Overview | Read integrity policy | Class Piazza Page | |
| 2 | Feb 1 | Overview of Topics | SNS Chapter 1 | Introductory Survey | |
| 3 (T) | Feb 6 | Mobility 1: legs and wheels (guest speaker) | SNS 2.1–2.2 | ||
| 4 | Feb 8 | Mobility 2: wheels and wings | SNS 2.3–2.4 | HW 1 posted: Getting started with ROS | Please note: per the information above, this is due at 11:59pm, 2/21. |
| 5 (T) | Feb 13 | Sensing 1: characterization |
SNS 4.1 | ||
| 6 | Feb 15 | Sensing 2: location and motion | SNS 4.1.4–4.1.8 | Class exercise today | |
| 7 (T) | Feb 20 | Sensing 3: vision and distance | SNS 4.1.9–4.1.10, 4.2.1–4.2.3, intro to 4.3, 4.4, 4.5–4.5.2, 4.5.5 | ||
| 8 | Feb 22 | Sensing 4: distance and line extraction | SNS 4.7.2 | HW 1 due HW 2 posted: Gazebo |
Please note: per the information above, this is due at 11:59pm, 2/21. |
| 9 (T) | Feb 27 | Sensing 5: RANSAC Uncertainty 1 |
SNS 4.1.2–4.1.3.2 Review deck 1, Review deck 2 |
||
| 10 | Mar 1 | Uncertainty 2: error propagation Group formation Simple DC motors |
Make sure 4.1.3 makes sense | ||
| 11 (T) | Mar 6 | Manip. 1: concepts and configurations | Project Description Posted | ||
| 12 | Mar 8 | Midterm review Manip. 2: configuration and grippers |
Spong 1.1-1.4, Robot Modeling and Control | HW 2 due date postponed to Thursday | |
| 13 (T) | Mar 13 | Manip. 3: Kinematic chains, actuation, and grasping | Assembly instructions and sensor attachment instructions | Fill out tiny.cc/robotics-survey | |
| 14 | Mar 15 | Lost to plague |
HW 2 due | ||
| 15 (T) | Mar 27 | Hardware build day | Updated project description | Project milestone 1 due | |
| 16 | Mar 29 | Midterm | recovery & project time |
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| 17 (T) | Apr 3 | Kinematics: Concepts | SNS 3.1, 3.3 CB section 1 |
Note updated project description. | |
| 18 | Apr 5 | Kinematics 2: Transforms, Mobility constraints | SNS 3.2 | Video: Axis-aligned rotation matrices in 3D space Video: Deriving the Z-rotation matrix, plus an example of use. (Beware—his φ is our θ.) |
|
| 19 (T) | Apr 10 | Kinematics 3: Manipulation, DH Parameters | SNS 3.4 CB 2.1 & 2.2–2.2.2 |
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| 20 | Apr 12 | Kinematics: DH frames (in detail) Project group work |
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| 21 (T) | Apr 17 | Kinematics 4: IK using Jacobians Hardware and projects (if possible) |
HW 3 posted | ||
| 22 | Apr 19 | Localization 1: Concepts, Error | SNS 5.1-5.4 | Project milestone 3 due at 11:59pm, 4/20 | Note updated project description |
| 23 (T) | Apr 24 | Localization 2: Representations | SNS 5.5-5.6.4 | ||
| 24 | Apr 26 | Localization 3: Probabilistic Localization Projects Day |
SNS 5.6.5-5.6.8 | ||
| 25 (T) | May 1 | Localization 4: Probabilistic Localization, Mapping 1, SLAM 1 | |||
| 26 | May 3 | Mapping and SLAM | HW 3 due Project milestone 4: penultimate turnin |
Project description (again) or just Milestone 5 (if you didn't see this in the main document you may be having caching problems) | |
| 27 (T) | May 8 | What aren't we covering? (Planning, Cognition, Control, Autonomy, HRI, ...) | HW 4 posted | ||
| 28 | May 10 | Project work day | |||
| 29 (T) | May 15 | Hardware demos and tournament! | Project milestone 5: final code and final writeup due | ||