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 
Objectives:  
Students will be taught  1. fundamentals of robotics 2. algorithms for designing robot motion 3. examples of robotic systems 
PreRequisites:  
Data structure, basic linear Algebra, and Matlab

Textbooks:  
Required:  
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 
Schedule (tentative): 
Date  Topics and notes  Reading  Homework  Due 
10 Jan  Introduction  
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 4.15  
2 Mar  Angular velocity and Jacobian  Chapter 4.6  
7 Mar  Midterm 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 5.23  
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  
Homework: 
Most of the homework has programming problems that can be completed in Matlab. 
Grading: 
50% homework (6% each regular assignment, 10% for each lab) 20% midterm 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.
http://www.ugs.usf.edu/catalogs/0405/adadap.htm
(Or search for “cheating”) 
Departmental Policy: 
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. 
Course Policy: 
Programming homework/projects will be graded. It is OK to discuss homework/projects with other students, but outright copying is not acceptable.

Communications: 
Be sure you can log in and can find this class under the Courses tab. Be sure you can find Assignments for this class. Be sure you can receive messages. Don’t let backlog exceed your quota. 
Disabilities, Absences: 
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. 