CIS 4930 Introduction to Robotics
-- Spring 2011
Schedule: M & W 4:35 pm - 5:50 pm
Location: PHY 13
Instructor: Yu Sun (contact information)
Office Hours: ENB 331, M, W, & F 3:30 pm - 4:30 pm
TA: Bing Lin (cosoullbx AT gmail DOT com)
TA Hours: ENB 329, M & W 12:00 pm - 1:30 pm
Students will be taught -|
1. fundamentals of robotics
2. algorithms for designing robot motion
3. examples of robotic systems
Data structure, basic linear Algebra, and Matlab
|Robot Modeling and Control by Mark M. Spong, Seth Hutchinso, and M. Vidyasagar (ISBN: 9780471649908)|
|Recommended:|| Robotics, Modeling, Planning and Control
By Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo
Principles of Robot Motion: Theory, Algorithms, and Implementations, by Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kantor
Introduction to AI Robotics, by Robin R. Murphy
|Date||Topics and notes||Reading||Homework||Due|
|12 Jan||Basics of Robotics and Linear algebra||Chapter 1 and Appendix A|
|19 Jan||Matlab tutorial||Handout||HW1|
|24 Jan||Representing positions and rotations||Chapter 2.1, 2.2|
|26 Jan||Rotational transformations||Chapter 2.3, 2.4|
|31 Jan||Parameterizations of rotations||Chapter 2.5, 2.6|
|2 Feb||Homogeneous transformations||Chapter 2.7||HW2||HW1|
|7 Feb||Kinematic chains and DH convention||Chapter 3.1 3.2|
|9 Feb||DH convention||Chapter 3.2|
|14 Feb||Forward kinematics||Chapter 3.2|
|16 Feb||Forward kinematics||Chapter 3.2||HW3 (Lab 1)||HW2|
|21 Feb||Lab 1 section 1|
|23 Feb||Lab 1 section 2||HW4||HW3|
|28 Feb||Inverse kinematics||Chapter 4.1-5|
|2 Mar||Angular velocity and Jacobian||Chapter 4.6|
|7 Mar||Mid-term exam|
|9 Mar||Trajectory design||Chapter 5.5||HW5||HW4|
|21 Mar||Configuration space||Chapter 5.1|
|23 Mar||Configuration space with examples||Chapter 5.1|
|28 Mar||Motion planning -- potential field||Chapter 5.2-3|
|30 Mar||Motion planning -- PRM||Chapter 5.4|
|4 Apr||Motion planning roadmap||Chapter 5||HW6 (Lab 2)||HW5|
|6 Apr||Motion planning review||Chapter 5|
|11 Apr||Lab 2 section 1|
|13 Apr||Lab 2 section 2||HW7||HW6|
|18 Apr||Sensors and actuators|
|20 Apr||Mobile robot|
|25 Apr||Robot applications|
|27 Apr||Final review||HW7|
|Most of the homework has programming problems that can be completed in Matlab.|
50% homework (6% each regular assignment, 10% for each lab)|
20% mid-term exam
30% final exam
|Attendance assessed through pop quizzes:|
|Five pop quizzes will be given for total 5% extra points (1% each) adding to the final grade. They will consist each of a simple question that you should be able to answer in 2 or 3 minutes. The questions will always relate to the last lecture.|
|Tentative Grading Scale:|
The tentative grading scale could be as follows.
97 -- 100 A+
93 -- 96 A
90 -- 92 A-
87 -- 89 B+
83 -- 86 B
80 -- 82 B-
77 -- 79 C+
73 -- 76 C
70 -- 72 C-
65 -- 69 D+
60 -- 64 D
0 -- 59 F
|Procedures for Alleged Academic Dishonesty or Disruption Of Academic Process:|
See current undergraduate catalog.
(Or search for “cheating”) |
All students enrolled in courses taught by the Computer Science and Engineering Department are advised that unless an instructor specifies otherwise, all work done in homework, programming, or exams must be the result of a student’s individual effort.|
Students who copy, or who provide material for others to copy, or who show dishonesty in their work as described in the university catalog, will be subject to disciplinary action, typically the receipt of a failing grade in the course, but also possible academic dismissal from the program.
Programming homework/projects will be graded. It is OK to discuss homework/projects with other students, but outright copying is not acceptable.
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Students with disabilities are encouraged to consult me as soon as possible. If accommodations are needed, a letter from the Office of Student Disability Services (SVC1133) will be required. Please inform me if there is a need for alternate format for documents or a note taker.
Students who anticipate the necessity of being absent from class due to the observation of a major religious observance must provide notice of the date (or dates) to me, in writing, by the second class meeting.
Students who must miss an exam due to participating in a varsity athletic event should contact me two weeks in advance in order to make alternative arrangements.