UCSB “Introduction to Robotics: Planning and Kinematics”
ME/ECE 179P, Spring 2014
Instructor: Francesco Bullo

This is the syllabus for the UCSB course ME / ECE 179P “Introduction to Robotics: Planning and Kinematics”, Spring 2014 (lecture times during period: Tuesday.08jan2013 through Thursday.14mar2013).

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

The userid and password information for the lecture notes will be given via email and in class.

When and how to turn in homework and MATLAB assignments

Homework is typically due on Thursday 5pm of the following week (e.g., Homework for Week 1 is due on Thursday of Week 2). The week-by-week schedule below includes the few exceptions.

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

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: January 8 and 10
Sensor-Based Motion Planning (Bug Algorithms)

Week 2: January 15 and 17
Motion Planning via Decomposition and Search

  • Reading Assignment: Lecture Notes Chapter #2 (pdf)

  • Homework Assignment #2 (due Th Week 3): Exercises E2.1, E2.2 and E2.6

  • MATLAB Assignment #2 (due Th Week 3): Exercise 1.7

  • Matlab scripts (solution of Homework #1 Matlab): (getDistancePointToLine.m file) and (getDistancePointToSegment.m file)

  • MATLAB Project #1 (due in two weeks, Thursday of Week 4): Exercise E1.8 “The Bug 1 Algorithm”. Some parts of the exercises are to be emailed and others are to be turned into the homework box. Project #1 requires the solution of Exercises 1.6 and 1.7 and solutions to MATLAB Exercise 1.7 will be made available.

  • MATLAB scripts required for project: computeBugBasePath.m (m-file) and testBugEnvironment.m (m-file)

Week 3: January 22 and 24
Configuration Spaces

Week 4: January 29 and 31
Motion Planning via Sampling and Collision Detection

Week 5: February 5 and 7
Motion Planning via Sampling

Week 6: February 12 and 14
Review and Midterm

  • MIDTERM: Thursday February 14

Week 7: February 19 and 21
Introduction to kinematics and rotation matrices

  • Reading Assignment: Lecture Notes Chapter #6 (pdf).

  • Homework Assignment #6 (due Th Week 8): Exercises E6.1, E6.3, E6.4

Week 8: February 26 and 28
Rotation matrices (composition, parametrization)

  • Reading Assignment: Lecture Notes Chapter #7 (pdf)

  • Homework Assignment #7 (due Th Week 9): Exercises E7.1, E7.2, E7.3, E7.9

  • MATLAB Assignment #7 (due Th Week 9): Exercises 7.7 with required MATLAB script testCubeRotation.m (m-file)

Week 9: March 5 and 7
Displacement matrices (as models for rigid motion and transformations)

  • Reading Assignment: Lecture Notes Chapter #8 (pdf). Additional reading: Motoman HP20 Brochure

  • Homework Assignment #8 (due Th Week 10): Exercises E8.1, E8.2, E8.3

Week 10: March 12 and 14
Motion models

  • Reading Assignment: Lecture Notes Chapter #9 (pdf)

Finals Week

  • Reading Assignment: Complete set of Lecture Notes (pdf)

  • Tuesday, March 19, 2013

  • 4pm-7pm