CSE378

Course CSE378
Title Introduction to Robotics
Credits 3
Course Coordinator

Dimitris Samaras

Description

Introduces basic concepts in robotics including coordinate transformation, kinematics, dynamics, Laplace transforms, equations of motion, feedback and feedforward control, and trajectory planning. Covers simple and complex sensors (such as cameras), hybrid and behavior based control and path planning. Concepts are illustrated through laboratories using the LEGO Robot Kit.

Prerequisite AMS 161 or MAT 127 or 132 or 142; AMS 210 or MAT 211 or MEC 262
Course Outcomes
  • Working knowledge of basic robotics concepts including coordinate transformation, kinematics, dynamics, sensor integration, feedback and feedforward control
  • An understanding of the role of these concepts in mobile robot control (reactive, behavior-based, and hybrid), robot learning and multi-robot systems
  • Ability to construct and evaluate real robot systems in course projects and assignments

Textbook
  • J. J. Craig, Introduction to robotics (Third ed 2003 Prentice Hall).
  • Probabilistic Robotics by S, Thrun and others. MIT Press 2005.
  • Robotics, Vision and Control, Peter Corke, Springer 2011
  • Principles of Robot Motion: Theory, Algorithms, and Implementations, by Howie Choset and others. MIT Press 2004.
  • Robotic Explorations: An Introduction to Engineering Through Design by F. Martin
  • Behavior-Based Robotics by R. Arkin.
  • Handouts will be posted on blackboard for topics covered in the class.

Major Topics Covered in Course
  • Week 1. Introduction Defining robotics Brief History
  • Week 2. Basic Imaging for Robotics. Coordinate Transformations, Sensing
  • Week 3. Quiz 1, Probabilistic robotics
  • Week 4. Localization and Mapping,
  • Week 5. Mobile Platforms
  • Week 6. Path Planning, Quiz2
  • Week 7. Inertial Navigation 
  • Week 8. Review and Midterm
  • Week 9. Effectors and Actuators,
  • Week 10. Manipulators. Direct Kinematics
  • Week 11. Dynamics. Inverse Kinematics,
  • Week 12. Feedback Control, Quiz 3
  • Week 13. Behavior-based control
  • Week 14. Group Robotics
  • Week 15. Final Projects

Laboratory Projects
Course Webpage

CSE378