This course provides an introduction to physics-based design, modeling, and control of robotic systems, in particular of robotic arms. You will learn basic methodologies and tools, and build a solid foundation that will enable you to move forward in both robotic research (CS327A, CS326) and applications (CS225A). Concepts that will be covered in the course are Spatial Transformations; Forward and Inverse Kinematics of Robots; Jacobians; Robot Dynamics, Joint, Cartesian, Operational Space and Force Control as well as Vision-based Control.
After taking the class, students will be able to
All learning outcomes are assessed by homework assignments, midterm and final exam.
Mon & Wed from 3:00 PM - 4:20 PM
Lectures conducted in-person in Gates B1
Available at the Bookstore.
All course materials will be shared through the Canvas page, including important class announcements from the Teaching Staff.
Midterm (in class): 25%
Final (in class): 35%
There are 7 assignments, total worth 40% of your final grade.
Due @ 11:59 PM on Thursdays on Gradescope (class code TBA).
|Mon, Jan 09||Introduction & Course Review|
|Wed, Jan 11||Spatial Descriptions|
|Thur, Jan 12||HW 1 Out|
|Fri, Jan 13||Review - Essential Math (3:20 PM - 4:20 PM, Gates B3)|
|Mon, Jan 16||Holiday, No Class|
|Wed, Jan 18||Articulated Body Systems|
|Thur, Jan 19||HW 1 Due, HW 2 Out|
|Mon, Jan 23||Forward Kinematics|
|Wed, Jan 25||Velocity Propagation|
|Thur, Jan 26||HW 2 Due, HW 3 Out|
|Mon, Jan 30||Jacobians: Explicit Form|
|Wed, Feb 01||Jacobians: Force/Torque Relationship|
|Thur, Feb 02||HW 3 Due, HW 4 Out|
|Mon, Feb 06||Trajectory Generation|
|Wed, Feb 08||Inverse Kinematics and Workspace|
|Thur, Feb 09||Midterm Review Session I (Details TBD)||HW 4 Due|
|Fri, Feb 10|| Midterm Review Session II (Details TBD)
|Mon, Feb 13||Midterm|
|Wed, Feb 15||Dynamics: Acceleration and Inertia|
|Thur, Feb 16||HW 5 Out|
|Fri, Feb 17||Review - Essential Physics (Time TBD)|
|Mon, Feb 20||Holiday, No Class|
|Wed, Feb 22||Dynamics: Newton-Euler|
|Thur, Feb 23||HW 5 Due, HW 6 Out|
|Mon, Feb 27||Dynamics: Explicit Form|
|Wed, Mar 01||Joint Space Control|
|Thur, Mar 02||HW 6 Due, HW 7 Out|
|Mon, Mar 06||Operational Space Control|
|Wed, Mar 08||Advanced Topics|
|Thur, Mar 09||HW 7 Due|
|Mon, Mar 13||Perception in Robotics|
|Wed, Mar 15||Lecture Review|
|Thur, Mar 16|| Final Review Session I (Details TBD)
|Fri, Mar 17|| Final Review Session II (Details TBD)
|Tue, Mar 21||Final Examination (8:30 AM - 11:30 AM, location TBD)|
The course website will be on Canvas. All course materials will be shared through the Canvas website, including important class announcements from the Teaching Staff. All assignments should be submitted via Gradescope. To strengthen the background knowledge of students on essential math and physics concepts used throughout the class, we have several review sessions throughout the quarter that we strongly encourage students to attend.
There will be 7 homework problem sets that are pen-and-paper exercises. Their purpose is to practice the concepts covered in class by applying them to different robotics-related example problems. All assignments will be submitted to Gradescope by 11:59pm on the due date.
Although group discussion and work is encouraged, each student should submit their own assignment and perform any necessary calculations on their own.
There will be a midterm and a final for this course. It will include similar problems to those you have encountered in the homework, and will additionally include problems and questions covering the content from the lectures. TA review sessions (schedule TBD) will help you to prepare for the exam.
Midterm (in class): 25%
Final (in class): 35%
Each student will have a total of three free late (calendar) days to use for homeworks. Once these late days are exhausted, any assignments turned in late will be penalized 20% per late day. However, no assignment will be accepted more than three days after its due date. Each 24 hours or part thereof that a homework is late uses up one full late day.Due to the proximity of the midterm, the above policy will not apply for Homework 4. This homework will not be accepted late.
Regrades will also be handled through Gradescope. We will begin to accept regrades for an assignment the day after grades are released for a window of three days. We will not accept regrades for an assignment outside of that window. Regrades are intended to remedy grading errors, so regrade requests must discuss why you believe your answer is correct in light of the deduction you received. We do not accept regrade requests of the form "I deserve more points for this" or "that deduction is too harsh."
The Course Reader is available at the bookstore.
Students who may need an academic accommodation based on the impact of a disability must initiate the request with the Office of Accessible Education (OAE). Professional staff will evaluate the request with required documentation, recommend reasonable accommodations, and prepare an Accommodation Letter for faculty dated in the current quarter in which the request is made. Students should contact the OAE as soon as possible since timely notice is needed to coordinate accommodations. The OAE is located at 563 Salvatierra Walk (phone: 723-1066, URL: http://studentaffairs.stanford.edu/oae).
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