UCSB “Introduction to Robotics: Planning and Kinematics”
ME/ECE 179P, Spring 2016
Instructor: Francesco Bullo

This is the syllabus for the UCSB course ME / ECE 179P “Introduction to Robotics: Planning and Kinematics”, Spring 2016 (lecture times during period: Wed.02apr2016 through Fri.6jun2016).

This information is always available and updated at the URL http://motion.me.ucsb.edu/ME179P-Winter2013/syllabus.html.

Textbook

As main source we will be using an unpublished book:

Lectures on Robotic Planning and Kinematics,
Francesco Bullo and Stephen L. Smith
v0.91, Nov 2015.

Available in PDF format and in Slide PDF format. More information here.

The plan is to cover each chapter of the book in about one week (two lectures).

When and how to turn in homework and Programming assignments

Homework is typically due on Wednesday 5pm of the week following the corresponding lectures (e.g., Homework for Week 1 is due on Wednesday of Week 2). Warning: The week-by-week schedule below may be modified during the quarter to include a few exceptions.

Handwritten or typed answers are to be placed in the homework box for ME179P near room 2243, Engr Bldg II.

Regarding programming assignments, please remember to always include name, date and summary description for each program you turn in.

Electronic answer are to be emailed to introtorobotics-at-gmail.com with subject “MATLAB Assignment #XYZ” or “MATLAB Project #XYZ”, where XYZ is the number of the assignment or project. Typically, M-files are to be emailed as attachments. For your information, we will run your M-files and MATLAB scripts through a test routine to check they work properly.

How to learn MATLAB

  • MATLAB video tutorials by MathWorks: (html) and demos (html)

  • MATLAB Primer (version 3, by Kermit Sigmon): (pdf)

Week 1: Mar 28 and 30
Sensor-Based Motion Planning (Bug Algorithms)

  • Reading Assignment: Textbook Chapter #1

  • Homework Assignment #1 (due on Wed Week 2): Exercises E1.1, E1.3, E1.5

  • Programming Assignment #1 (due on Wed Week 2): Exercise E1.6

Week 2: April 4 and 6
Motion Planning via Decomposition and Search

  • Reading Assignment: Textbook Chapter #2

  • Homework Assignment #2: Exercises E2.1 and E2.6

  • Programming Assignment #2: Exercise 1.7

  • Programming Project #1 (due on Monday May 9): Exercise E1.8 “The Bug 1 Algorithm”. Project #1 requires the solution of Exercises 1.6 and 1.7.

Week 3: April 11 and 13
Configuration Spaces

  • Reading Assignment: Textbook Chapter #3

  • Homework Assignment #3: Exercises E3.1, E3.2, E3.4, E3.6

Week 4: April 18 and 20
Motion Planning via Sampling and Collision Detection

  • Reading Assignment: Textbook Chapter #4

  • Homework Assignment #4: Exercises E4.2

  • Programming Assignment #4: Exercise 4.3

Week 5: April 25 and 27
Motion Planning via Sampling

Week 6: May 2 and 4
Review and Midterm

  • MIDTERM: Wednesday May 4th

Week 7: May 9 and 11
Introduction to kinematics and rotation matrices

  • Reading Assignment: Textbook Chapter #6

  • Homework Assignment #6: Exercises E6.1, E6.3, E6.4

Week 8: May 16 and 18
Rotation matrices (composition, parametrization)

  • Reading Assignment: Textbook Chapter #7

  • Homework Assignment #7: Exercises E7.1, E7.2, E7.3, E7.6

  • Programming Assignment #7: Exercises 7.10

Week 9: May 23 and 25
Displacement matrices (as models for rigid motion and transformations)

  • Reading Assignment: Textbook Chapter #8

  • Additional reading: Motoman HP20 Brochure

  • Homework Assignment #8: Exercises E8.1, E8.2, E8.3

Week 10: (May 30 = Memorial Day) June 1
Motion models

  • Reading Assignment: Textbook Chapter #9

Finals Week

  • Time: 12pm-3pm, Thursday, June 9, 2016

  • Place: Engineering Building II, room 2243