Date: Wed, 20 Nov 1996 23:17:55 GMT
Server: NCSA/1.5
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22C:161 --- Introduction to Robotics --- SPRING 1995
22C:161 --- Introduction to Robotics --- SPRING 1995
Professor: Jim Cremer
Class hours: MWF 1:30, 205 MacLean Hall
Cremer office hours: W 2:30-3:30 and by appointment, 201N MLH
TA: Dan Stevenson
Stevenson office hours: TTh 1-2, B1C (robot lab)
Class mailing list: robotics@herky.cs.uiowa.edu
Index
- Week 1 (1/18,20): Course intro and lab intro, Chapter 1
- W: course introduction. Text: Ch 1.
- F: lab introduction (in B1C). Introduction to use of B1C Pumas - Raven and Fish. Demonstrations of past course projects.
- Week 2 (1/23-27): Chapter 2 - Spatial descriptions and transformations
- M: Chap. 2 - Spatial descriptions and transformations. Text: 2.1 - 2.3
- W: Chap. 2 continued. Transformations, varous orientation representations. Text: 2.4 - 2.8
- F: Lab exercise 1 (B1C).
- Week 3 (1/30-2/3): Chapter 3 - Kinematics
- Week 4 (2/6-10): Chapter 4 - Inverse Kinematics
- Week 5 (2/13-17): Chapter 5 - Jacobians: velocity and static forces
- Week 6 (2/20-24): Chapter 6 - Dynamics
- Week 7 (2/27-3/3): Chapter 7 - Trajector generation
- Week 8 (3/6-10): Chapter 9/10 - Control
- Week 9 (3/13-17): (buffer - will really finish Ch. 9/10 here. Field trips, labs, etc. will stretch the schedule to here.)
- SPRING BREAK (3/20-24) NO CLASS.
- Week 10 (3/27-31) intro to specialized topics, project discussion
- Week 11 (4/3-7) locomotion
- Week 12 (4/10-14) motion planning
- Week 13 (4/17-21) grasping
- Week 14 (4/24-28) robot programming languages, planners
- Week 15 (5/1-5) wrap-up and project presentations
- FINAL (5/10) 2:15pm