Robotics 2023 is 2 credit points lecture and 2 credits points project. There were a total of 5 projects:
- Learning to Fold a Towel by One Hour Trial in Real World (report)
- Out-of-box Calibration Toolkit for Multiple Cameras, Lidars, and IMUs (report)
- Fully automatic self-charging robot (report)
- Omni Wheel Leg Robot V2
- Fetch Whiteboard Wiping (report)
Teaching Assistant:
Classes: Tuesday and Thursday 15:00 - 17:00; room: SIST 1D-106
| Date | Lecture | Reading | Misc |
|---|---|---|---|
| Tue, Feb 7 | Introduction | AMR: Chapter 1; MRMMM: Chapter 1 | Homework 1 (updated Feb 6) Due Thursday, Feb 16, 23:59 |
| Thu, Feb 9 | Kinematics | MRMMM: Chapter 2.1 optional: AMR: Chapter 2 | pose conventions |
| Tue, Feb 14 | Sensors | MRMMM: Chapter 2.2 & 2.3 | |
| Thu, Feb 16 | Sensors & Perception | AMR: Chapter 4.2 | |
| Tue, Feb 21 | Robot Arms | MRMMM: 2.4 & 2.5 | Denavit–Hartenberg Parameters |
| Thu, Feb 23 | Mapping | MRMMM: 9.1 & AMR: 5.1 - 5.3 | Homework 2 (small update Feb 23) Due Thursday, March 9, 23:59 |
| Tue, Feb 28 | Mapping II | AMR 5.4 & 5.5 | Project Proposal Due Friday, March 10, 22:00 |
| Thu, March 2 | Localization | AMR: 5.6 & 5.7 MRMMM: Chapter 9.3 | Paper Presentation Due Wed, March 15, 22:00 |
| Tue, March 7 | SLAM I | AMR: 5.8 | |
| Thu, March 9 | Project Meetings | Homework 3 Due Monday, March 27, 22:00 | |
| Tue, March 14 | Project Meetings | ||
| Thu, March 16 | SLAM II | AMR: 5.6 - 5.8 | |
| Tue, March 21 | Presentations | ||
| Thu, March 23 | Presentations Admin | ||
| Tue, March 28 | Planning | AMR: 6.1-6.3 | |
| Thu, March 30 | Mechatronics | MRMMM 7.1 | |
| Tue, April 04 | Project Meetings | ||
| Thu, April 06 | Vision I | AMR: 4.2-4.3; | Homework 4 Due Tue, May 9, 22:00 |
| Tue, April 11 | Project Meetings | Project Reports Due Thursday, April 27, 22:00 & Due Thursday, June 8, 22:00 | |
| Thu, April 13 | Project Meetings | ||
| Tue, April 18 | Midterm | ||
| Thu, April 20 | Project Meetings | ||
| Tue, April 25 | Vision II | AMR: 4.4, 4.5; MRMMM: 8.1 | |
| Thu, April 27 | DL & Ethics | AMR: 4.4, 4.5; MRMMM: 8.1 | |
| May 2 -> Apr 23 | Project Meetings | ||
| Thu, May 4 | Project Meetings | ||
| Tue, May 9 | Project Meetings | ||
| Thu, May 11 | Project Meetings | ||
| Tue, May 16 | Project Meetings | ||
| Thu, May 18 | Reinforcement Learning | ||
| Tue, May 23 | Project Meetings | ||
| Thu, May 25 | Summary Lecture | ||
| Tue, May 30 | Maybe Final |
Literature:
•Mobile Robotics Mathematics, Models, and Methods (MRMMM)
•Alonzo Kelly
•ISBN 978-1-107-03115-9
•Introduction to Autonomous Mobile Robots (AMR)
•Roland Siegwart, Illah R. Nourbakhsh, Davide Scaramuzza
•ISBN: 978-0-262-01535-6