CSC353
Spring 2006
Ileana Streinu

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353 Robotics Seminar

Schedule
Lecture notes and assignment handouts may not be posted for all the classes. A handout available before the actual lecture meeting is only tentative and may be changed at any time by the professor. Posted lecture notes are not meant as a substitute for class attendence, but as guidelines for the topics covered in class.
Class #
Date   
Lecture
Topic
Hwk
1
Tu 1/29
Lecture 1
Introduction.
Ex 1
2
Th 2/2
Lecture 2
Case Study: Lego Robots, hardware
Ex 2
3
Tu 2/7
Lecture 3
Case Study: Lego Robots, software
Ex 3
4
Th 2/9
Lecture 4
Robot Simulation
Hw 1
5
Tu 2/14
Lecture 5
Case Study: Robot arm, simulation in Mathematica

6
Th 2/16
Lecture 6
Theory: locomotion; kinematic simulations in Mathematica
Ex 4
7
Tu 2/21
Lecture 7
Forward and Inverse Kinematics.
Forward kinematics of serial linkages in 2d
Hw 2
8
Th 2/23
Lecture 8
General linkages in 2d. Degree-of-freedom computation. Kinematics.
Ex 5
9
Tu 2/28
Lecture 9
More on workspace, configuration space, dof computation. Intro to Cinderella.
  
10
Th 3/2
Lecture 10
General linkages, in Cinderella and in Mathematica.
Ex 6
11
Tu 3/7
Lecture 11
Motion simulation under constraints.
Ex 7
12
Th 3/9
Lecture 12
Simulation of complex linkages
Hw 3
13
Tu 3/14
Lecture 13
Kinematics of serial linkages in 3d.

14
Th 3/16
Exam
Midterm Exam: in class, theory
Take-home, Mathematica

-
-
-
Spring break
 
15
Tu 3/28
Machine shop
Handyboard hardware:
Machine-shop session

16
Th 3/30
Presentation 1
Hardware and software presentation I:
Introduction to the Handyboard

17
Tu 4/4
Presentation 2
Hardware and software presentation II:
Introduction to the Sony Aibo Robotic Dog
 
18
Th 4/6
Presentation 3
Software presentation III:
NQC for Lego MindStorms

19
Tu 4/11
Presentation 4
Hardware and software presentation IV:
Introduction to the Pioneer robot

20
Th 4/13
Presentation 5
Software presentation V: pyrorobotics (Python software)

21
Tu 4/18
Presentation
Project proposal presentation
Project descriptions , old projects
22
Th 4/20
Lab
Project session 1

23
Tu 4/25
Lab
Project session 2

24
Th 4/27
Lab
Project session 3

25
Tu 5/2
Presentations
Final Project Presentation I
  
26
Th 5/4
Presentations
Final Project Presentation II