Lecture Schedule
| Date | Topic | Assigned Reading | Lecture Notes | Extras |
|---|---|---|---|---|
| 1.17 (Tu) | introduction + linear algebra review | slides | Suggested Material: Matrix Cookbook Linear Algebra Done Right Gilbert Strang Lectures | |
| 1.19 (Th) | motion models and differential equations review | slides | ||
| 1.24 (Tu) | DoF + configuration space | Mod. Rob. Ch 2 | slides | |
| 1.26 (Th) | rigid body motion | Mod. Rob. Ch 3.1-3.2 | slides | Fun Video: Visualizing Quaternions |
| 1.31 (Tu) | rigid body motion + transformations | Mod. Rob. Ch 3.3-3.4 | slides | |
| 2.02 (Th) | screw motions | Mod. Rob. Ch 3.3-3.4 | slides | Video by Ben Walt: Spatial Screws for Mechanisms |
| 2.07 (Tu) | exponential coordinates and forward kinematics I | Mod. Rob. Ch 3.3-3.4 | slides | |
| 2.09 (Th) | forward kinematics II | Mod. Rob. Ch 4 | slides | Video by former TA Ben Walt: Spatial Forward Kinematics Student videos: Forward Kinematics Review Forward Kinematics Example |
| 2.14 (Tu) | Recap / Velocity Kinematics I | Mod. Rob. Ch 5.1-5.2 | slides | |
| 2.16 (Th) | Review Session I | |||
| 2.21 (Tu) | Exam I | make reservation in CBTF | ||
| 2.23 (Th) | URDF and Robot Models in Simulation | slides | ||
| 2.28 (Tu) | Velocity Kinematics II | Mod. Rob. Ch 5.1-5.2 | slides | Video by TA Ben Walt: Spatial Jacobian |
| 3.02 (Th) | Inverse Kinematics I | Mod. Rob. Ch 6.1 | slides | |
| 03.07 (Tu) | Inverse Kinematics II | Mod. Rob. Ch 6 | slides | |
| 03.09 (Th) | Guest Lecture on Legged Robots by Prof. Yim | Reflection due 3/17 | ||
| 03.14 (Tu) | SPRING BREAK // PIE DAY | |||
| 03.16 (Th) | SPRING BREAK | |||
| 03.21 (Tu) | trajectory generation | Mod. Rob. Ch 9 | slides-raw | |
| 03.23 (Th) | Review Session II | |||
| 03.28 (Tu) | Exam II | make reservation in CBTF | ||
| 03.30 (Th) | Guest Lecture on Bio-robotics and education by Prof. Golecki | Reflection due 4/7 | ||
| 04.04 (Tu) | motion planning I | Mod. Rob. Ch 10.1-10.2 | ||
| 04.06 (Th) | motion planning II | Mod. Rob. Ch 10.3-10.5 | ||
| 04.11 (Tu) | decision-making | |||
| 04.13 (Th) | Guest Lecture on Human-Robot Interaction by Dr. McPherson | Reflection due 4/20 | ||
| 04.18 (Tu) | perception and filtering I | |||
| 04.20 (Th) | perception and filtering II | |||
| 04.25 (Tu) | Guest Lecture on Robot Planning by Prof. Hauser | Reflection due 5/5 | ||
| 04.27 (Th) | Review Session III | |||
| 05.02 (Tu) | Exam 3 | make reservation in CBTF | ||