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	Prerequisites: AMS 161 or MAT 127 or 132; 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	Peter Corke, Robotics, Vision and Control: Fundamental Algorithms in MATLAB, 2nd ed., Springer, 2017.
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
Course Webpage	CSE378