Course Content
| Date | Lectures and Homeworks | HW schedule | Related Links |
|---|---|---|---|
| Part 1: Introduction to Robotics Control | |||
| 9/5/2023 | Class 1: Introduction to the course
| HW 1 released | 1. What is a Robot? 2. Anatomy of a Robot. 3. Isaac Asimov's Robot Series Other useful links: 1. Learn Git 2. Linux Terminal Game 3. Learn Shell 4. Linux Journey |
| 9/07/2023 | Class 2: Optimization 101 | A quick intro to SGD and its variants | |
| 09/12/2023 | Tutorial1: Mechatronics 101 | ||
| 09/14/2023 | Class 3: Gradient Descent | Reference | |
| 09/19/2023 | Tutorial 2: Mechatronics - II | ||
| 09/21/2023 | Class 4: Supervised Learning | HW 1 due | Chapter 2 of MLS textbook |
| 09/26/2023 | Class 5: Rigid Body Transformations I | HW 2 released | Chapter 2 of MLS textbook |
| 09/28/2023 | Class 6: Rigid Body Transformations II | Chapter 2 of MLS textbook | |
| 10/03/2023 | Class 7: Forward Kinematics | 1. Chapter 3 of MLS textbook 2. Forward kinematics of a variety of robots. 3. CH3 of Forward Kinematics | |
| 10/05/2023 | Class 8: Inverse Kinematics | HW 2 due | 1. Chapter 3 of MLS textbook 2. Chapter 6 of Robotic Systems |
| 10/12/2023 | Class 9: Robot Dynamics & Jacobian | HW 3 released | 1. Chapter 3 of MLS textbook 2. Section II of Robotic Systems |
| 10/17/2023 | Tutorial3: Coding Transforms | ||
| 10/19/2023 | Tutorial4: Coding Jacobians | ||
| 10/24/2023 | Guest Lecture by Raunaq Bhirangi | ||
| 10/26/2023 | Class 10: Introduction to Control | HW 3 due | 1. Chapter 4 of MLS textbook 2. Section IV of Robotic Systems |
| 10/31/2023 | Class 11: Linear Quadratic Regulators | HW 4 released | Video on Micro Mouse |
| 11/02/2023 | Class 12: Non-Linear Dynamics and LQR variants | Formulation of LQR | |
| Part 2: Sensing and Fusion | |||
| 11/07/2023 | Class 13: Robot Sensing | Bayes rule wiki | |
| 11/09/2023 | Tutorial5: Coding LQRs | ||
| 11/14/2023 | Class 14: Introduction to filtering: Kalman Filters, Extended Kalman Filters. | HW 4 due | KF tutorial |
| 11/16/2023 | Tutorial6: Guest Lecture from Viam | ||
| Part 3: Planning | |||
| 11/21/2023 | Class 15: Simultaneous Localization and Mapping | HW 5 released | Simultaneous Localization and Mapping. |
| 11/28/2023 | Class 16: Planning and configuration spaces. | HW 6 released | |
| 11/30/2023 | Class 16: Heuristic planning and Sample Based Planners | ||
| Part 4: Advanced Topics | |||
| 12/05/2023 | Class 17: Computer Vision for Robotics | HW 5 due | |
| 12/07/2023 | Class 18: Model Predictive Control. | ||
| 12/12/2023 | Class 19: Imitation Learning | ||
| 12/14/2023 | Class 20: Reinforcement Learning | HW 6 due |