16-311 Spring 2006 Course Overview

The following course outline is tentative. Time allotted to some topics may be modified during the semester. Blue background denotes current week.

Material Outline

  • Introduction to Robotics (ppt) (pdf)

  • Vision (ppt) (pdf)
    • Projection
    • Convolution
    • Edge Detection

  • AI - Intro and History

  • Motion Planning (ppt) (pdf)
    • Potential Functions
    • Roadmaps
    • Cell Decompositions

  • Sensing and Sensors (ppt) (pdf)

  • Inertial Navigation Systems (ppt)_ (pdf)

  • Mobility - (mobile robot platforms) (ppt) (pdf)

  • Forward and Inverse Kinematics (ppt) (pdf)
    • Transformation Matrices
    • DH Transformations

  • Inverse Kinematics
    • Geometric methods
    • Algebraic methods

  • Non-holonomic constraints (ppt) (pdf)

Technical Material

Schedule

Week Day Topics Assignments
Week 1 Mon 1/16
 
Course Overview, Logistics
Waitlist students talk to Dr. Choset
HW1: C Programming
(due Tue, Jan 24)
Tue 1/17
 
Intro to C Programming I --
Wed 1/18
 
Assign Teams/Attendance
Computer Vision
HW2: Rube Goldberg (Lab 1)
(due Thu, Jan 26)
Week 2
Mon 1/23
 
More C and Vision
--
Tue 1/24
 
C and Robot Vision Continued
Hand in HW1 in class
Wed 1/25
 
Demo Lab 1
Location: NSH 1507
HW3: Vision Programs (Lab 2)
(due Tue, Jan 31)
Thu 1/26
 
-- HW2 due 11:59PM
electronically
Week 3 Mon 1/30
 
Vision Problems
Introduction to the Handyboard
--
Tue 1/31
 
Hand out Lego Kits (mandatory)
Location: REL
HW3 due by 1:30 PM electronically
Wed 2/1
 
Lego Controls & The Art of Lego HW4: Braitenberg Vehicles (Lab 3)
(due Tue, Feb 7)
Week 4 Mon 2/6
 
NO CLASS --
Tue 2/7
 
DEMO Lab 3
Location: REL
HW4 due by 1:30 PM electronically
Wed 2/8
 
Motion Planning: Potential Functions,
Configuration Space (Degrees of Freedom)
HW5 :Low-Level Base (Lab 4)
(due Tue, Feb 14)
Week 5 Mon 2/13
 
Motion Planning: Road Maps, Configuration Spaces --
Tue 2/14
 
Demo Lab 4 Hand in HW5 in class
Wed 2/15
 
Motion Planning: Roadmaps, continued.
Cell Decompositions and Coverage
HW6: Motion Planning (Lab 5)
(due Wed, Feb 22)
Week 6 Mon 2/20
 
Sensing and Sensors --
Tue 2/21
 
NO CLASS.
HW7: Sensors (Lab 6)
(due Tue, Mar 7)
Wed 2/22
 
Demo Lab 5 HW6 due 10:30AM in class
Week 7 Mon 2/27
 
Surgical robotics --
Tue 2/28
 
Midterm Review --
Wed 3/1
 
-- MIDTERM -- --
Week 8 Mon 3/6
 
INS and Mobile Base --
Tue 3/7
 
DEMO Lab 6 Hand in HW7 in class
Wed 3/8
 
Explain USAR Project
HW8/9/10: USAR (Lab 7)
(due Mar 22, 28; Apr 4, 5)

Spring Break

Week 9 Mon 3/20
 
Matrix Transformations --
Tue 3/21
 
Matrix Transformations
3D example

HW8 (Design Proposal) due in class
Wed 3/22
 
Evaluate Design Proposals (Groups) --
Week 10 Mon 3/27
 
USAR Open Lab Hours
USAR Prototype Evaluations
--
Tue 3/28
 
Open Lab Hours
USAR Prototype Evaluations
HW9 (Lab 7) due at 8pm
Wed 3/29
 
USAR Prototype Selection
Feedback in Class and Final Contest Prep
--
Week 11 Mon 4/3
 
NO CLASS (USAR Preparation ) --
Tue 4/4
 
USAR Demos (by appointment) HW10 due
Wed 4/5
 
USAR Final Competition:
Location: REL (NSH 3206)
Time: 10:30-12:00
--
Week 12 Mon 4/10
 
USAR Wrapup, Forward Kinematics,
Denavit & Hartenberg

--
Tue 4/11
 
Forward Kinematics
DH Transforms
HW11: Forward Kinematics (Lab 8)
(due Tue, Apr 18)
Wed 4/12
 
Inverse Kinematics --
Week 13 Mon 4/17
 
Inverse Kinematics Meet Final Contest Team
Tue 4/18
 
DEMO Lab 8 HW12: Inverse Kinematics (Lab 9)
(due Wed, Apr 26th)
HW11 due in class
Wed 4/19
 
NO CLASS Remember HW assignment
Week 14 Mon 4/24
 
Non-Holonomic Path Planning --
Tue 4/25
 
Non-holonomic Path Planning (Part 2) HW13: Final Contest (Lab 10)
(due Wed, May 3)
Wed 4/26
 
DEMO Lab 9 HW12 due in class
Week 15 Mon 5/1
 
Final Review --
Tue 5/2
 
Review for Final
--
Wed 5/3
 
DEMO Lab 10 (Final Contest) HW13 due in class
Finals Week Tue, 5/9
 
FINAL EXAM
Time: 1-4 PM
Location: NSH1305
--

Last updated 4/4/06 by Steve Stancliff
(c) 1999-2006: Howie Choset, Carnegie Mellon