Computer Science 154
Robotics
Lecture notes and schedule, Spring 2000
Lecture Slides (PowerPoint) and Calendar
Slides will be linked to this page as they're created.
(Tuesday, January 16)
Overview of Robot Architecture
(Thursday, January 18)
Lab Introduction
(Tuesday, January 23)
Motor schemas (and motors)
(Thursday, January 25)
Control and Lab (description of projects)
(Tuesday, January 30)
Motors, Sensors, and Control --
Written Assignment 1 postponed
(Thursday, February 1)
Control and Lab
(Monday, February 5) Lab Assignment 1 due at
midnight
(Tuesday, February 6)
Control and Kinematics
(Thursday, February 8)
Kinematics for wheeled bases and Lab
(Tuesday, February 13)
Manipulator Kinematics and Representing Space
(Thursday, February 15)
Inverse Kinematics --
Written Assignment 2 due in class
(Tuesday, February 20)
Configuration Space
(Thursday, February 22)
Path Planning and Lab
(Monday, February 26)
Lab Assignment 2 due at
midnight
(Tuesday, February 27)
Path Planning II
(Thursday, March 1)
Path Planning finale and Lab
(Tuesday, March 6)
Mapping and Localization
(Thursday, March 8)
Evidence grid mapping
(Friday, March 9 - Sunday, March 18)
Spring Break
(Tuesday, March 20)
Evidence Grids and Information theory
(Thursday, March 22)
Monte Carlo Localization and Entropy
(Tuesday, March 27)
Lab Session
(Thursday, March 29)
Uses of entropy in robotics
(Monday, April 2)
Lab Assignment 3 due at midnight
(Tuesday, April 3)
The EM algorithm
(Thursday, April 5)
Robot Vision I -- the problem
(Tuesday, April 10)
Robot Vision II -- tracking with color
(Thursday, April 12)
Tracking, Juggling robots, and Lab Session
(Tuesday, April 17)
Robot Vision III -- tracking with edges
(Thursday, April 19)
Tracking with texture and Lab Session
(Tuesday, April 24)
No class -- presentation days
(Thursday, April 26)
Applying vision: Robotic Visual Servoing
(Tuesday, April 17)
Course conclusions and Lab session
(Wednesday, May 2) Final Lab
Project due.