Schedule – Fall 2024

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