Introduction to Robotics: MECH 498, MECH 598, ELEC 498, COMP 498

Robert Platt
Rice University
Fall 2007

Course Description

This course will focus primarily on the analysis and control of robot systems. The student will get a solid introduction to how a robot might be programmed to do useful things. How can a complex robot manipulator reach to a desired location? How can we use the extra complexity of general-purpose manipulators to do multiple things at once? How can we model the inertial dynamics of the manipulator in order to compensate for these effects? How can we avoid colliding with obstacles? How can we make the robot's task performance robust to unpredictable events? How can we improve performance over time? The course will provide the student with a mathematical introduction to many of the key ideas important to intelligent robot systems. The focus of the course is on the analysis and control of manipulators, ranging from low-level continuous control of the manipulator using kinematic and inertial models to higher-level approaches to path planning and autonomous function. We will cover foward kinematics, differential kinematics, dynamics, control, path planning, and machine learning techniques that include reinforcement learning, lazy-learning techniques, and probabilistic methods.

Course Information:

Timeslot: Tuesday/Thursday 9:25 - 10:40
Room: ML 251
Instructor: Robert Platt
email: robert [dot] platt-1 [at] nasa [dot] gov
Office: TBA
Office Hours: By appointment (Friday mornings or before class)

Grader: Fakhreddine Landolsi
Grader office: Ryon Lab 232

Required Text: "Robot Modeling and Control", Mark Spong, Seth Hutchinson, M. Vidyasagar. John Wiley & Sons

Grading:

• Two exams: 25% each
• 8-10 Homeworks/Labs 50%
• To qualify for MECH 598 credit, graduate students will be required to complete a (minor) additional project by the end of the semester.

Course Policies:

• Homeworks and labs are to be completed by individual students unless otherwise specified. You may study with other students or ask other students to explain general concepts. However, the solution that is turned in must be completely your own. Homework should be submitted directly to the grader at his office in Ryon Lab 232 in the "Intro to Robotics" drop box by 5pm the day that it is due.
• Late homeworks will be docked 5% per day late. Homeworks will be considered late if they are submitted after 5pm the day that they are due.
• If you have a documented disability that will impact your work in this class, please contact me to discuss your needs. Additionally, you will need to register with the Disability Support Services Office in the Ley Student Center.

Pictures of robots to pique your interest:

Shakey	RUR	Sarcos DB	Bionic Man	Robonaut	UMass Dexter	Tool Use	Domo	HRP-2

Syllabus

Subject to change...