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 17 at 11:59pm, the night before the 2/18 class.
The schedule is tentative and subject to change.
| Class | Date | Topic / slides | Readings | homework | Handouts/notes/links |
|---|---|---|---|---|---|
| 1 (T) | Jan 28 | Introduction and Overview | Read integrity policy Read integrity policy Sign up for Piazza Page |
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| 2 | Jan 30 | Overview of Topics | SNS Chapter 1 | ||
| 3 (T) | Feb 4 | Mobility 1: legs and wheels | SNS 2.1–2.2 | ||
| 4 | Feb 6 | Mobility 2: DoFs, wheels, and wings | SNS 2.3–2.4 | HW1: Getting started with ROS | Please note: per the information above, this is due at 11:59pm, 2/17. |
| 5 (T) | Feb 11 | Sensing 1: characterization, pose, location, and motion |
SNS 4.1 | ||
| 6 | Feb 13 | Sensing 2: vision and distance | SNS 4.1.4–4.1.8, 4.1.9–4.1.10, 4.2.1–4.2.3 | Class exercise today | |
| 7 (T) | Feb 18 | Sensing 3: visual feature extraction | 4.3, 4.4, 4.5–4.5.2, 4.5.5, 4.7.2 | HW 1 due | Please note: per the information above, this is due at 11:59pm, 2/17. |
| 8 | Feb 20 | Uncertainty Estimation | Review deck 1, Review deck 2 | ||
| 9 (T) | Feb 25 | DC motors and the Hall effect | |||
| 10 | Feb 27 | Guest lecture: Dr. Frank Ferraro | |||
| 11 (T) | Mar 3 | Manip. 1: concepts, configurations, and grippers | Spong 1.1-1.4, Robot Modeling and Control | HW 2 | |
| 12 | Mar 5 | Manip. 2: Kinematic chains, actuation, and grasping | |||
| 13 (T) | Mar 10 | Robot build day! | Assembly instructions and sensor attachment instructions | ||
| 14 | Mar 12 | Classes cancelled | |||
| 15 (T) | Mar 24 | Overview of Fall 2020 | |||
| 16 | Mar 26 | • Kinematics: Concepts, Rotations • Lecture: youtu.be/CjACjR6DpXo |
SNS 3.1, 3.3 CB section 1 | 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.) |
The lecture notes include three exercises: two solved, one not. |
| 17 (T) | Mar 31 | Quiz overview | |||
| 18 | Apr 2 | Kinematics 2: manipulation transforms | SNS 3.2 | ||
| 19 (T) | Apr 7 | Class canceled | |||
| 20 | Apr 9 | Kinematics 3: Denavit-Hartenberg + exercises | SNS 3.4 CB 2.1 & 2.2–2.2.2 Spong Ch. 3 |
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| 21 (T) | Apr 14 | Transformation exercises | |||
| 22 | Apr 16 | A little more DH Ethics |
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| 23 (T) | Apr 21 | • Localization 1: Concepts, Error Updated • Localization 1 video lecture |
SNS 5.1-5.4, SNS 5.5-5.6.4 | The clarifications from the lecture period are in the updated slides PDF. | |
| 24 | Apr 23 | Localization & Kinematics Q&A with Pat | SNS 5.6.5-5.6.8 | ||
| 25 (T) | Apr 28 | Localization and representations | |||
| 26 | Apr 30 | Mapping and SLAM | |||
| 27 (T) | May 5 | What aren't we covering? (Planning, Cognition, Control, Autonomy, HRI, ...) | |||
| 28 | May 7 | ||||
| 29 (T) | May 12 | Last day of classes |
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