| Week | Course Materials | Additional Materials |
|---|---|---|
| 1 |
Historical Context, Types, and Applications: [pdf][video: 1, 2, 3, 4] Basic Robotic Concepts: [pdf, ppt] Spatial Representations of Rigid Bodies (I): [pdf, ppt][video: 1, 2-3, 4, 4.1, 4.2, 4.3] |
Problem set 1: [pdf] |
| 2 |
Spatial Representations of Rigid Bodies (II): [pdf, ppt] [Videos: 1, 2, 2.1, 2.2, 2.3, 2.4, 3] |
Problem set 2: [pdf] |
| 3 |
Forward Kinematics: [pdf, ppt] Quiz 1: [pdf, solution] |
SCARA and Fanuc: [pdf] Summary of DH Convention: [pdf] Corke's Robotics Toolbox: [zip] |
| 4 |
Inverse Kinematics: [pdf, ppt] [Videos: 1, 2, 3, 4, 5, 6] |
|
| 5 |
Differential Kinematics: [pdf, ppt] Quiz 2: [pdf, solution] |
Some examples: [pdf] symfunctions: [py] |
| 6 | Mobile Robot Kinematics: [pdf, ppt] | |
| 7 |
Trajectory Generation: [pdf, ppt] Quiz 3: [pdf] |
|
| 8 | Midterm Exam: [pdf] | |
| 9 | Perception using Computer Vision: [pdf] | Test images and code: [zip] Face detection: [zip] |
| 10 |
Robot Components: [pdf] Quiz 4 |
|
| 11 |
Motion Planning: [pdf] |
|
| 12 |
Dynamics I: [pdf] |
|
| 13 |
Dynamics II: [pdf] Quiz 5: [pdf] |
|
| 14 | Control: [pdf] | test-files: [zip] |
| 15 | Introduction to Localization and Mapping: [pdf] Quiz 6: [pdf] | test-files: [kf], [ekf] |
| 16 | Final Exam: [pdf] |