|
Date |
Lecture |
Office Hours |
Project/Assignment |
Hand-in |
| Week 1 |
Mon 1/15 |
Dr. Martin Luther King Holiday. No classes today.
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| Wed 1/17 |
Course overview and introduction to Cozmo. |
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Reading: Ten Big Ideas in Robotics |
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| Fri 1/19 |
Lab 1: Meet Cozmo! |
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| Week 2 |
Mon 1/22 |
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 1/24 |
Finite state machines. |
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| Fri 1/26 |
Lab 2: Odometry |
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Finish Lab 2 for homework. |
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| Week 3 |
Mon 1/29 |
More state machines. Intro to particle filters. |
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Try out particle_filter_demo and pfdemo.py. |
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| Wed 1/31 |
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 2/2 |
Lab 3: Particle filters. |
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Finish Lab 3 for homework. |
Lab 2 due. |
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| Week 4 |
Mon 2/5 |
Lecture: Kinematics.
Videos:
Denavit-Hartenberg conventions,
Towers of Hanoi,
3-dof arm IK,
high-dof tentacle IK,
tentacle manipulation
Resource:
numpy quick start.
|
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Read: Introduction to homogenous
transformations and robot kinematics, by Jennifer Kay.
Watch: Denavit-Hartenberg Conventions |
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| Wed 2/7 |
The world map. |
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Play with quaternions.online. |
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| Fri 2/9 |
Lab 4: Kinematics. |
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Finish Lab 4 for homework. |
Lab 3 due. |
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| Week 5 |
Mon 2/12 |
More kinematics,
world maps, and SLAM
Videos:
Robot Navigation Using SLAM by Ibrahim Musba.
SLAM A 00 by Claus Brenner.
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| Wed 2/14 |
Path planning algorithms.
RRT Animation Gallery.
Videos: A* Search,
Tekkotsu hand/eye planner |
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| Fri 2/16 |
Lab 5: Cozmo's path planner, and intro to SLAM. |
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Finish Lab 5 for homework. |
Lab 4 due. |
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| Week 6 |
Mon 2/19 |
Intro to OpenCV.
Demo: CircleWatcher.py |
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Browse OpenCV Python Tutorials, specifically on contours. |
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| Wed 2/21 |
OpenCV part 2.
Shape matching.
Watershed algorithm
(more info).
|
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Try the new CV_Canny and CV_Hough demos in cozmo_fsm/examples. |
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| Fri 2/23 |
Lab 6: continuation of lab 5. |
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Finish Lab 5/6 for homework. |
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| Week 7 |
Mon 2/26 |
Matplotlib.
Examples: PlotDrive.fsm
and Histogram.fsm |
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Matplotlib usage. Matplotlib tutorial info. |
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| Wed 2/28 |
Speech generation and recognition.
Demo: Speech1.fsm.
Winograd's SHRDLU system, and a
modern version. |
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Review regular expressions in Python. |
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| Fri 3/2 |
Lab 7: OpenCV. |
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| Week 8 |
Mon 3/5 |
Code Lab. |
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Try out Scratch 3.0. |
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| Wed 3/7 |
Calypso for Cozmo. |
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Watch Calypso videos: intro,
and keep-away tutorial. Have a look
at the Calypso Curriculum. |
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| Fri 3/9 |
Mid-semester break. No class/lab. |
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| Week 9 |
Mon 3/12 |
Spring break: no class. |
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| Wed 3/14 |
Spring break: no class. |
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| Fri 3/16 |
Spring break: no class. |
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| Week 10 |
Mon 3/19 |
Review answers to past homework problems. |
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| Wed 3/21 |
Machine learning in Python: scikit-learn.
Demo: RGBClusterer.fsm |
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| Fri 3/23 |
Lab 8: machine learning. |
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| Week 11 |
Mon 3/26 |
Lab 9: motion detection. |
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| Wed 3/28 |
Lab 10: collision detection. |
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| Fri 3/30 |
Lab 11: Multi-camera and multi-robot systems. |
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Lab 8 due. |
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| Week 12 |
Mon 4/2 |
Lecture: Manipulation. |
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Lab closed from 6pm Mon. until 1pm Wed. |
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| Wed 4/4 |
Lab 12: fun with quaternions. |
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| Fri 4/6 |
Lab 13: Cube Manipulation. |
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Labs 9 and 10 due. |
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| Week 13 |
Mon 4/9 |
Discussion of Final Projects. |
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| Wed 4/11 |
Work on final projects. |
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| Fri 4/13 |
Work on final projects. |
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Lab 12 due. |
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| Week 14 |
Mon 4/16 |
Work on final projects. |
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Lab 13 due |
| Wed 4/18 |
Work on final projects. |
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| Fri 4/20 |
No lab: Spring Carnival. |
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| Week 15 |
Mon 4/23 |
Work on final projects. |
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| Wed 4/25 |
Work on final projects. |
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| Fri 4/27 |
Work on final projects. |
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| Week 16 |
Mon 4/30 |
Work on final projects. |
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| Wed 5/2 |
Work on final projects. |
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| Fri 5/4 |
Public demo of your projects. |
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Final project hand-in due by
Friday May 11. |