CIS 4930 Introduction to Robotics

-- Spring 2012

Schedule: T&TH 12:30pm - 1:45pm
Location: CIS 1045
Instructor: Yu Sun (contact information)
Office Hours: ENB 331, T&TH 1:50pm - 3:20pm
TA:Ivan Shindev (shindev AT
TA Hours: ENB 325, M&W 10:30am to 11:30am

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

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 HW1
19 Jan Matlab tutorial Handout
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 HW2 HW1
2 Feb Homogeneous transformations Chapter 2.7
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 HW3(Lab1) HW2
16 Feb Inverse kinematics Chapter 3.3
21 Feb Lab 1 section 1
23 Feb Lab 1 section 2 HW4 HW3
28 Feb Angular velocity Chapter 4.1-5
1 Mar Jacobian Chapter 4.6
6 Mar Mid-term exam
8 Mar Travel
20 Mar Trajectory design Chapter 5.5 HW5 HW4
22 Mar Configuration space Chapter 5.1
27 Mar Configuration space with examples Chapter 5.1
29 Mar Motion planning -- potential field Chapter 5.2-3 HW6(Lab2) HW5
3 Apr Motion planning -- PRM Chapter 5.4
5 Apr Motion planning roadmap Chapter 5
10 Apr Motion planning review Chapter 5
11 Apr Lab 2 section 1 HW7 HW6
13 Apr Lab 2 section 2
19 Apr Sensors and actuators
24 Apr Mobile robot
26 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”)

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.
  • Don’t copy anyone else’s work.
  • Don’t let anyone copy your work.
  • We will check!
  • Homework/projects must be submitted on time.
  • Late homework/projects will not be graded, get an automatic 0.
  • Departmental policy will apply to exams.

  • Communications:
  • Blackboard ( ) will be used for all program submissions.

    Be sure you can log in and can find this class under the Courses tab.
    Be sure you can find Assignments for this class.

  • USF email will be used for any last-minute announcements.

    Be sure you can receive messages.
    Don’t let backlog exceed your quota.

  • Disabilities, Absences:
  • Disabilities
    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.

  • Religious Observances
    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.

  • Athletic Events
    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.

  • * Every part of this syllabus is subject to adjustment.