EECS C106A/206A | Introduction to Robotics

Fall 2023

Professors Koushil Sreenath and Shankar Sastry

Course Calendar

ALL LECTURE SLIDES AND VIDEOS CAN BE FOUND ON BCOURSES

Week 0

  • Homework 0: Linear Algebra Review - due 8/29
  • Python Bootcamp
No Class
8/22		Intro - History of Robotics
8/24 (Logistics Slides) (Lecture Slides)

Rigid Body Motion

Week 1

  • Lab 1: Introduction to ROS (Starter Code) (Lab Doc) (Slides)
  • Homework 1: Rotations and Reference Frames - due 9/6
  • Starter Code
  • Discussion 1: Rotations (Worksheet) (Video) (Boardwork) (Solutions)
Rigid Body Motion
8/29 (Slides) (Boardwork)
SO(3) Group / Rigid Transformations
Reading - MLS 2.1, 2.2		Calculating Rigid Body Motion
8/31 (Slides) (Boardwork)
Exponential Map / Rodrigues / Euler Angles
Reading - MLS 2.3

Week 2

  • Lab 2: Writing Publisher/Subscriber Nodes in ROS (Starter Code) (Lab Doc) (Slides)
  • Homework 2: Exponential Coordinates - due 9/12
  • Starter Code
  • Discussion 2: Exponential Coordinates (Worksheet) (Video) (Boardwork) (Solutions)
Rigid Body Transformations in 3D
9/5 (Slides) (Boardwork)
Quaternions / SE(3) / Twists
Reading - MLS 3.2		Representing Rigid Body Transformations
9/7 (Slides) (Boardwork)
se(3) / Expontential Map / Screws
Reading - MLS 3.2

Kinematics

Week 3

  • Lab 3: Forward Kinematics/Coordinate Transforms (Starter Code General, Starter Code Sawyer) (Lab Doc) (Slides)
  • Lab 4: Introduction to Mobile Robots (Starter Code) (Lab Doc) (Slides)
  • Homework 3: Forward Kinematics - due 9/19
  • Discussion 3: Forward Kinematics (Worksheet) (Boardwork) (Solutions) (Video on bCourses)
  • Robot Usage Guide
Screws and Forward Kinematics I
9/12 (Slides) (Boardwork)
Screws - Twists / Chasle’s / Jointspace + FK
Reading - MLS 3.2		Forward Kinematics II
9/14 (Slides) (Boardwork)
Product of Exponentials / Examples
Reading - MLS 3.2

Week 4

  • Continue Labs 3 and 4
  • Homework 4: Inverse Kinematics - due 9/25
  • Discussion 4: Inverse Kinematics (Worksheet) (Video) (Boardwork) (Solutions)
  • Practice Midterms on Ed
Inverse Kinematics II
9/19 (Slides) (Boardwork)
Manipulator Workspace / PK 1
Reading - MLS 3.3		Inverse Kinematics II
9/21 (Slides) (Boardwork)
PK 2, 3 / Examples
Reading - MLS 3.3

Vision

Week 5

  • Midterm I 09/28 in class
  • Review Slides
  • Review Session Recording, Password: #uxBJ.6F
  • Lab Buffer Week
  • No new homework this week
  • Mini-Proposal due 10/6
Computer Vision I
9/26 (Slides) (Boardwork)
Image Formation and Features
Reading - Textbook Chapter 1, Chapter 2		Midterm
9/28

Week 6

  • Final Project Guidelines
  • Proposal due Friday 10/13
  • Lab 5: Inverse Kinematics and Path Planning (Starter Code) (Lab Doc) (Slides)
  • Lab 6: Building Occupancy Grids with TurtleBot (Starter Code) (Lab Doc) (Slides)
  • Homework 5: Vision - due 10/12
  • Starter code
  • Theory
  • Discussion 5: Vision (Worksheet) (Boardwork) (Solutions) (Video on bCourses)
Computer Vision II
10/3 (Slides) (Boardwork)
Image Primitives and Correspondence
Reading - Textbook Chapters 3, 4		Computer Vision III
10/5 (Slides) (Boardwork)
Two-View Geometry
Reading - Textbook

Week 7

  • Continue Labs 5 and 6
  • Homework 6: Velocities - due 10/19
  • Discussion 6: Velocities (Worksheet) (Solutions) (Boardwork) (Video)
  • Final Project Proposal due Friday
Computer Vision IV
10/10 (Slides) (Boardwork)		Velocities
10/12 (Slides) (Boardwork)
Spatial / Body / Angular / Generalized Velocities
Reading - MLS 2.4, 3.4

Velocities and Jacobians

Week 8

  • Lab Buffer Week
  • Homework 7: Jacobians & Singularities - due 10/26
  • Discussion 7: Jacobians (Worksheet) (Boardwork) (Solutions) (Video on bCourses)
Spatial Jacobian
10/17 (Slides) (Boardwork)
Reading - MLS 3.4		Body Jacobian and Singularities
10/19 (Slides) (Boardwork)
Reading - MLS 3.4

Week 9

  • Lab 7: Full Stack (Starter Code) (Lab Doc) (Slides)
  • Lab 8: Full Stack (Starter Code) (Lab Doc) (Slides)
  • Homework 8: Dynamics - due 11/4
  • Starter Code
  • Discussion 8: Dynamics (Worksheet) (Video) (Boardwork) (Solutions)
  • Work on Final Projects
Motion Planning with Jacobians
10/24 (Slides) (Boardwork)
Singularities / Manipulability / Redundant
Manipulators
Reading - MLS 3.4		Introduction to Lagrangian Dynamics in Planar Systems
10/26 (Slides) (Boardwork)
Reading - MLS 4.2

Dynamics

Week 10

  • Continue Labs 7 and 8
  • Homework 9: Control - due 11/13
  • Discussion 9: 3D Lagrangian and linear systems intro (Worksheet) (Boardwork) (Solutions) (Video on bCourses)
  • Work on Final Projects
Lagrangian Dynamics of Rigid Bodies and Kinematic Chains
10/31 (Slides) (Boardwork)		State-Space Modeling and Linear Systems
11/2 (Slides) (Boardwork)

Control and Motion Planning

Week 11

  • Lab Buffer Week
  • Discussion 10: Linear Control Theory (Worksheet) (Boardwork) (Solutions) (Video on bCourses)
  • Final Project Check-In I due Thursday 11/9
Linear Control Theory and LQRs
11/7 (Slides) (Boardwork)		Computed Torque Control and Feedback Linearization
11/9 (Slides) (Boardwork)

Week 12

  • Midterm II on 11/16 in class
  • Review Session Notes
  • Recording on Ed
  • Work on Final Projects
Gravity Compensation and Task-Space Control
11/14 (Slides) (Boardwork)		Midterm II
11/16

Week 13

  • Work on Final Projects
  • Enjoy Thanksgiving!
Motion Planning I
11/21 (Slides) (Boardwork)		No Class - Thanksgiving Break!
11/23

Week 14

  • Final Project Check-In II due 11/29
Motion Planning II
11/28 (Slides) (Boardwork)		Miscellaneous Topics (UAVs/Walking/Autonomous Vehicles)
11/30 (Slides) (Boardwork)

Final Projects

Week 15

  • RRR Week: No Lectures
  • Final Project Presentations on Thursday and Friday
Final Project Presentations
12/7		Final Project Presentations
12/8

Week 16

Finals Week - Good luck on your exams!

Final Project Websites due
12/15

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