Robots I worked with: Merlin, TOM, B21, Magellan Pro, Atrv, Maggie, CRS, PeopleBot, Khepera, SANet
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Schedule

Week
Date
Lectures
Self-Study
Assignments/Exams
1
TBA
Introduction to Robotics
[What is a Robot?, What is Robotics?, Science Fiction, Science Facts, Robots Today, Robot Statistics and Robots’ Future]
   
2
TBA
Industrial Robot Morphology
[What is an Industrial Robot?, Basic Definitions, Geometric Classification, Elements of Industrial Robot and Commercial Industrial Robots]
Robot Statistics and Market Penetration Report  
3
TBA
Kinematics
[Kinematics, Robots as Mechanisms, Matrix Representation, Homogenous Transformation Matrices, Inverse of Transformation Matrices and Forward and Inverse Kinematic Equations]
   
4
TBA
Trajectory Planning
[Path versus Trajectory, Joint-Space versus Cartesian-Space Descriptions, Basics of Trajectory Planning, Joint-Space Trajectory Planning and Cartesian-Space Trajectories]
   
5
TBA
Motion Control
[Industrial Robot Control, Control Techniques, Motion Control, Electromechanical Systems Dynamics and Position Control]
Literature Survey Paper  
6
TBA
Programming
[Industrial Robot Programming, Programming Methods and Robot Language Development]
  Midterm Exam
[Includes material from Weeks 1-6]
7
TBA
Mobile Robotics
[Autonomous Systems, From Manipulators to Mobile Robots, Mobile Robot Classifications and Challenging Problems of Mobile Robots]
Unmanned Vehicles: Types and Applications Report  
8
TBA
Locomotion Systems
[Robot Locomotion, Legged Mobile Robots (Walking Machines), Leg Configurations and Stability, Wheeled Mobile Robots (Driving Robots), Wheels Types, Wheel Arrangements and Mobility Configurations]
   
9
TBA
Positioning Systems
[Mobile Robot Kinematics, Differential Drive Kinematics, Mobile Robot Positioning, Odometry for Differential Drive, Systematic and Non-Systematic Odometry Errors and Measurement of Odometry Errors]
Paper Critics  
10
TBA
Recursive State Estimation
[Uncertainty in Autonomous Systems, State Estimation, Bayesian Rule, Markov Models and Markov Localization]
   
11
TBA
Environment Mapping
[World Modeling, Metric Mapping, Occupancy Grid Framework, Occupancy Grid-based Mapping and Case Study]
  Course Project
12
TBA
Motion Planning
[Configuration Space, Graph Search Algorithms, Road Map Planning Approaches, Cell Decomposition Approaches and Potential Field Method]
  Final Exam
[Includes material from Weeks 7-12]