CSE 4421 | Robotics |  |
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Course Description
In this course we will cover a rather wide variety of topics and the student will have a chance to study a particular topic in depth by doing a project. The topics we will cover are:
- Introduction.
- Robot Locomotion
- Non-Visual Sensing
- Robot Vision
- Path Planning
- Pose Maintenance
- Robotic Manipulator Forward and Inverse Kinematics
- Manipulator Velocities and Forces
Lecture Hours
Monday, Wednesday, Friday 9:30-10:30 in CB129.Programming Assignments
There will be one programming assignment (15%) and a project that includes a marked proposal (10+25%). You will use the facilities in the robotics lab, work in groups of two if you are u-grad, work individually if you are a grad, and use the software provided by the instructor or other software with which you are familiar. The assignment, proposal and project will be demoed to the instructor and the project demoed and presented to the class.Tests
There will be a midterm worth 20% and a final worth 30%. The final will cover all the material in the course. The grads write harder versions of the tests.Text
The text is Computational Principles of Mobile Robotics by Michael Jenkin, Gregory Dudek, Paperback - 300 pages 1 edition (February 28, 2000) Cambridge Univ Pr (Schol/Prof) ; ISBN: 0521568765 ( Barnes and Noble, Chapters-Indigo or Amazon
Other Reading
To refresh your Linear Algebra: Linear Algebra and Its Applications by Gilbert Strang, Brooks Cole; 4th edition (July 19, 2005), ISBN: 0030105676.
Material Covered in Class
Fri. Jan. 4: Gentle introduction to the course, mobile platform
architectures and technologies, robot manipulators.
Last
Modified: Jan 3 2008