CS327A — Advanced Robotics
Spring Quarter 2013
| Instructor | Prof. Oussama Khatib This e-mail address is being protected from spambots. You need JavaScript enabled to view it Room Gates 144 Office hours: Wed 4-5pm |
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| Assistant | Gerald Brantner This e-mail address is being protected from spambots. You need JavaScript enabled to view it Office hours: Tue, Thu 10:30-11:30 Gates Fishbowl / Gates 122 |
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| Lectures | Gates B12 Mon, Wed, 2:15-3:30pm |
Schedule
| Mon, April 01 | Course Introduction |
| Wed, April 03 | Kinematics |
| Mon, April 08 | Inverse Kinematics |
| Wed, April 10 | Operational Space Dynamics |
| Mon, April 15 | Unified Motion/Force Control |
| Wed, April 17 | Redundancy |
| Mon, April 22 | Inertial Properties |
| Wed, April 24 | Cooperative |
| Mon, April 29 | Humanoids |
| Wed, May 01 | Whole Body Control |
| Mon, May 06 | Human-Motion Analysis |
| Wed, May 08 | Haptics |
| Mon, May 13 | Tactile Perception |
| Wed, May 15 | Elastic Planning |
| Mon, May 20 | Robot Design |
| Wed, May 22 | Robot Control Architectures |
| Mon, May 27 | Memorial Day (no class) |
| Wed, May 29 | Review |
| Mon, June 03 | TBD |
| Fri, June 07 | Mini-Symposium |
| Sat, June 08 | Take-Home Final |
Course Format and Grading
Lectures (75%), Paper Reviews (25%)
Homework (30%), Review (20%), Final (50%)
Reading
The course reader is mandatory and available at the bookstore.
In addition, we will distribute the slides prior to each class.
Handouts
| Syllabus pdf |
| 1 Kinematics pdf |
| 2 Inverse Kinematics pdf |
| 3 Operational Space Dynamics pdf |
| 4 Compliant Motion Control pdf |
| 5 Redundancy pdf |
| 6 Inertial Properties pdf |
| 7 Cooperation pdf |
| 8 Introduction to Haptics pdf |
| 9 Tactile Perception pdf |
| 10 Human Friendly Design pdf |
| 11 Elastic Planning pdf |
| 12 Humanoids pdf |
Homework
| Out | Due | |||
| Homework 1 pdf |
Tue, Apr. 9 |
Mon, Apr. 22, by the end of lecture | ||
| Homework 2 pdf | Mon, Apr. 22 | Mon, May 6, by the end of lecture | ||
| Homework 3 pdf | Mon, May 6 | Mon, May 20, by the end of lecture | ||
| Homework 4 pdf | Mon, May 27 | Mon, June 3, by 4pm, drop at Gates 122 |