|
Date |
Lecture |
Office Hours |
Project/Assignment |
Hand-in |
| Week 1 |
Mon 1/16 |
Dr. Martin Luther King Holiday. No classes today.
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| Wed 1/18 |
Course overview and introduction to Cozmo. |
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Reading: Ten Big Ideas in Robotics |
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| Fri 1/20 |
Lab 1: Meet Cozmo! |
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| Week 2 |
Mon 1/23 |
Robot software architecture and Python control structure. |
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Read the slides from Beazley's 2009 coroutines lecture. Somehwat dated but still really good. |
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| Wed 1/25 |
Finite state machines. |
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| Fri 1/27 |
Lab 2: Odometry |
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Finish Lab 2 for homework. |
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| Week 3 |
Mon 1/30 |
More state machines. Intro to particle filters. |
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Try out particle_filter_demo and pfdemo.py. |
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| Wed 2/1 |
Particle filters. |
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If you would like to learn more, see these excellent
lectures
on probabilistic robotics. |
Can Cozmo do this? |
| Fri 2/3 |
Lab 3: Particle filters. |
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Finish Lab 3 for homework. |
Lab 2 due. |
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| Week 4 |
Mon 2/6 |
Kinematics.
Resource:
numpy quick start.
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Read: Introduction to homogenous
transformations and robot kinematics, by Jennifer Kay.
Watch: Denavit-Hartenberg Reference Frame Layout |
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| Wed 2/8 |
The world map. |
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| Fri 2/10 |
Lab 4: Kinematics. |
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Finish Lab 4 for homework. |
Lab 3 due. |
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| Week 5 |
Mon 2/13 |
More kinematics,
world maps, and SLAM
Videos: BreezySLAM
demo by Simon Levy.
SLAM A 00
by Claus Brenner.
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| Wed 2/15 |
Path planning algorithms.
RRT Animation Gallery.
Videos: A* Search,
Tekkotsu hand/eye planner |
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| Fri 2/17 |
Lab 5: Cozmo's path planner, and Not-SLAM. |
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Finish Lab 5 for homework. |
Lab 4 due. |
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| Week 6 |
Mon 2/20 |
Intro to OpenCV. CircleWatcher.py |
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Browse OpenCV Python Tutorials, specifically on contours. |
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| Wed 2/22 |
OpenCV part 2: line finding. |
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Try the new CV_Thresh and CV_Hough demos in cozmo_fsm/examples. |
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| Fri 2/24 |
Lab 6: RRT path planning. |
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Finish Lab 6 for homework. |
Lab 5 due. |
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| Week 7 |
Mon 2/27 |
More on OpenCV:. CV_Contour, CV_GoodFeatyres, CV_OpticalFlow demos. |
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| Wed 3/1 |
More on particle filters: error ellipses, SLAM. Slides. |
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| Fri 3/3 |
Lab 7: Particle SLAM. |
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Lab 6 due. |
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| Week 8 |
Mon 3/6 |
More Particle SLAM. Intro to matplotlib. |
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Read some matplotlib tutorial info. |
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| Wed 3/8 |
Lab 8: meet in NSH 3206. |
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Finish Lab 8 for Homework |
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| Fri 3/10 |
Mid-semester break. No class/lab. |
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| Week 9 |
Mon 3/13 |
Spring break: no class. |
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| Wed 3/15 |
Spring break: no class. |
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| Fri 3/17 |
Spring break: no class. |
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| Week 10 |
Mon 3/20 |
Walls in the world map. |
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| Wed 3/22 |
Speech recognition and natural language input.
Winograd's SHRDLU system.
Modern version. |
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| Fri 3/24 |
Lab 9: world map, and speech control. |
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| Week 11 |
Mon 3/27 |
Basic manipulation. Visual detection of chips. |
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| Wed 3/29 |
Manipulation by pushing.
Manipulation with friction.
PID-Simulation.xls |
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| Fri 3/31 |
Lab 10: Manipulation. |
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Labs 8 and 9 due. |
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| Week 12 |
Mon 4/3 |
Meet in lab.
SDK Examples.
Custom markers. |
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Lab closed from 6pm Mon. until 1pm Wed. |
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| Wed 4/5 |
Meet in lab.
Intro to the Pilot:
P1Test.fsm
Qube.py
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| Fri 4/7 |
Lab 11: Robot recognition.
Anki visiting. |
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Lab 10 due. |
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| Week 13 |
Mon 4/10 |
Discussion of Final Projects. |
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| Wed 4/12 |
Work on final projects. |
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| Fri 4/14 |
Work on final projects. |
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Lab 11 due. |
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| Week 14 |
Mon 4/17 |
Work on final projects. |
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| Wed 4/19 |
Work on final projects. |
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| Fri 4/21 |
No lab: Spring Carnival. |
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| Week 15 |
Mon 4/24 |
Work on final projects. |
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| Wed 4/26 |
Work on final projects. |
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| Fri 4/28 |
Work on final projects. |
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| Week 16 |
Mon 5/1 |
Work on final projects. |
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| Wed 5/3 |
Work on final projects. |
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| Fri 5/5 |
Public demo of your projects. |
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Final project hand-in due by
May 10. |