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