The weekly lab sessions culminate in two projects.
Table for Calendar
| Lec 1 |
Introduction |
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| Lec 2 |
Servomechanism - 1 |
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| Lec 3 |
Servomechanism - 2 |
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| Lab 1 |
De-mining Robot 1: Embedded Robot Controller, I/O Interface, and PWM Amplifiers |
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| Lec 4 |
Sensors |
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| Lec 5 |
Control Software |
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| Lab 2 |
De-mining Robot 2: Two-axis Robotic Vehicle |
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| Lec 6 |
Kinematics - 1 |
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| Lec 7 |
Kinematics - 2 |
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| Lab 3 |
De-mining Robot 3: Vehicle Control Software |
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| Lec 8 |
Differential Motion - 1 |
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| Lec 9 |
Differential Motion - 2 |
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| Lab 4 |
De-mining Robot 4: Integration and Demonstrations |
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| Lec 10 |
Statics |
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| Lab 5 |
Santa's Home Delivery Robot 1: Two Axis Manipulator Control |
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| Lec 11 |
Hybrid Position-force Control |
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| Lec 12 |
Compliance |
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| Lab 6 |
Santa's Home Delivery Robot 2: Design |
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| Lec 13 |
Legged Robots, Multi-fingered Hands |
Mid-term exam due 2 days after Lec 13 |
| Lab 7 |
Santa's Home Delivery Robot 3: Machining |
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| Lec 14 |
Dynamics - 1 |
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| Lec 15 |
Dynamics - 2 |
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| Lab 8 |
Santa's Home Delivery Robot 4: Machining (cont.) |
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| Lec 16 |
Dynamics - 3 |
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| Lec 17 |
Computed Torque Control |
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| Lec 18 |
Torque and Impedance Control |
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| Lec 19 |
Computer Graphics |
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| Lab 9 |
Santa's Home Delivery Robot 5: Assembly |
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| Lec 20 |
Computer Vision |
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| Lec 21 |
Tele-robotics and Virtual Realty |
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| Lec 22 |
Model-based Control |
End-of-term exam due 2 days after Lec 22 |
| Lab 10 |
Santa's Home Delivery Robot 6: Programming |
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| Lec 23 |
Humanoids and Biologically-Inspired Robots |
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| Lab 11 |
Santa's Home Delivery Robot Demonstrations |
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