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
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 |