Schedule

Date Topic Notes Reading Assignment out/due
9/6 Office Hours: 1 - 5pm, ISEC 090 (take the elevator to the basement)
9/7 Office Hours: 1 - 5pm, ISEC 090 (take the elevator to the basement)
9/8 CLASS CANCELLED!

I can't make it to the first day of class! Sorry about that. I have to be at a wedding on that day.

Instead, I'm holding office hours on Wedsneday and Thursday between 1pm and 5pm in the afternoon (9/6, 9/7) in my robotics lab at 090 ISEC. I would be happy to discuss with you what we will cover in this course, the workload, assignments, etc.

You don't have to come to these office hours if you don't want. Instead, just have a look at the first day lecture notes and the video I've posted in the column to the right.

Or, you can email me any questions.

In any case, I hope you decide to take the course if you're interested in robotics!
Intro Slides
9/12 Abbreviated Intro, representation of rotation Vectors, Matrices, Rotations Corke, Ch 2, Ch 7, Ch 8
9/15 Homogeneous Transforms Homogeneous Transforms Corke, Ch 2, Ch 7, Ch 8
9/19 Forward Kinematics, Inverse Kinematics, Differential Kinematics Homogeneous Transforms Inverse Kinematics Differential Kinematics Corke, Ch 2, Ch 7, Ch 8
9/22 Differential Kinematics, Cartesian Control Differential Kinematics Corke, Ch 8
9/26 Differential Kinematics, Cartesian Control Cartesian Control Different representations of orientation Corke, Ch 8
9/29 Differential Kinematics, Cartesian Control Cartesian Control Different representations of orientation Corke, Ch 8 HW 1 out: PDF Code
10/3 Cartesian Control, Representation of orientation Cartesian Control Different representations of orientation Corke, Ch 8
10/6 Motion planning: bug algorithms, wavefront Bugs, wavefront algorithm Corke, Ch 5 HW 1 DUE!: PDF Code
10/10 Configuration space, cell decomposition, potential fields Configuration space Cell decomposition potential fields Corke, Ch 5
10/13 PRM PRM Corke, Ch 5
10/17 RRT RRT HW 2 OUT: PDF Code
10/25 HW 2 DUE!: PDF Code
10/27 State space form Linear optimal control
10/31 Linear optimal control Linear optimal control
11/3 Linear optimal control Linear optimal control
11/7 Linear optimal control Linear optimal control HW 3 OUT!: PDF Code
11/10 Linear optimal control Linear optimal control
11/14 Research presentations from Marcus and Andreas
11/17 Deep Learning for Image Classification and Detection Neural networks
11/21 Deep Learning for Image Classification and Detection Neural networks
11/24 THANKSGIVING! NO CLASS! Neural networks
11/28 Deep Learning for Image Classification and Detection Neural networks HW 4 OUT!: PDF Code
12/9 Project due!: PDF Code

Slides for additional material not formally covered in this course

Markov decision processes
Reinforcement Learning


Readings: unless noted otherwise, all readings and assignments are due on the day that they appear in the schedule.

Corke --> Robotics, Vision, and Control: Fundamental Algorithms in Matlab, by Peter Corke