CS327A — Advanced Robotics
![HumanRobotCover2](/groups/manips/images/stories/teaching/HumanRobotCover2.jpg)
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 |