Date | Topic | Assigned Reading | Lecture Notes | Extra Material |
Tuesday 8/27 | intro + review (Prof. DC) | slides | Suggested Material: Matrix Cookbook Linear Algebra Done Right Gilbert Strang Lectures Spring 2023 Lectures: Linear Algebra Diff Eq | |
Thursday 8/29 | Mechanism design I (Prof. Yuan) | Mod. Rob. Ch 2 | slides | |
Tuesday 9/3 | Mechanism design II (Prof. Yuan) | slides | ||
Thursday 9/5 | Rigid body motion (Prof. DC) | Mod. Rob. Ch 3.1-3.2 | slides | Fun Video: Visualizing Quaternions |
Tuesday 9/10 | Transformations (Prof. DC) | Mod. Rob. Ch 3.3-3.4 | slides | |
Thursday 9/12 | Screw Motions (Prof. DC) | Mod. Rob. Ch 3.3-3.4 | slides | Video by Ben Walt: Spatial Screws for Mechanisms |
Tuesday 9/17 | Exponential Coordinates and Forward Kinematics I (Prof. DC) | Mod. Rob. Ch 4 | slides | |
Thursday 9/19 | Forward Kinematics II (Prof. DC) | Mod. Rob. Ch 4 | slides | Video by former TA Ben Walt: Spatial Forward Kinematics Student videos: Forward Kinematics Review Forward Kinematics Example |
Tuesday 9/24 | Velocity Kinematics (Prof. DC) | Mod. Rob. Ch 5 | slides | Video by TA Ben Walt: Spatial Jacobian |
Thursday 9/26 | Inverse Kinematics I (Prof. DC) | Mod. Rob. Ch 6.1 | slides | |
Tuesday 10/1 | Inverse Kinematics II (Prof. DC) | Mod. Rob. Ch 6.2 | slides | |
Thursday 10/3 | Exam 1 | make reservation in CBTF | ||
Tuesday 10/8 | Guest Lecture: HRI for Older adults Drs. Harshal Mahajan and Samuel Olatunji | Attendance Taken OR Submit Reflection | ||
Thursday 10/10 | URDF and Robot Models in Simulation | Mod. Rob. Ch 4.2 | slides | |
Tuesday 10/15 | Trajectory Generation (Prof. DC) | Mod. Rob. Ch 9 | slides | |
Thursday 10/17 | Motion Planning I (Prof. Yuan) | Mod. Rob. Ch 10.1-10.2 | slides | |
Tuesday 10/22 | Motion Planning II (Prof. Yuan) | Mod. Rob. Ch 10.3-10.5 | slides | |
Thursday 10/24 | Motion Planning III (Prof. Yuan) | Mod. Rob. Ch 10.3-10.5 | slides | |
Tuesday 10/29 | Guest Lecture: Human Dynamics and Controls Lab Prof. Hsiao-Wecksler | Attendance Taken OR Submit Reflection | ||
Thursday 10/31 | Exam II | make reservation in CBTF | ||
Tuesday 11/5 | perception and sensing I (Prof. Yuan) | slides | ||
Thursday 11/7 | perception and sensing II (Prof. Yuan) | slides | ||
Tuesday 11/12 | perception and sensing III (Prof. Yuan) | |||
Thursday 11/14 | perception and sensing IV (Prof. Yuan) | |||
Tuesday 11/19 | Human-Robot Interaction (Prof. DC) | |||
Thursday 11/21 | Guest Lecture: Haptics and Interactive Devices Prof. Craig Shultz | Attendance Taken OR Submit Reflection | ||
Tuesday 11/26 | FALL BREAK | |||
Thursday 11/28 | FALL BREAK | |||
Tuesday 12/3 | Robot Learning and Decision-Making I (Prof. Yuan) | |||
Thursday 12/5 | Exam III | make reservation in CBTF | ||
Tuesday 12/10 | Robot Learning and Decision-Making II (Prof. Yuan) | |||