CSE378

Course CSE378
Title Introduction to Robotics
Credits 3
Course Coordinator

Dimitris Samaras
Description

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.

Bulletin Link
Prerequisite Prerequisites: AMS 161 or MAT 127 or 132; 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
  • Peter Corke, Robotics, Vision and Control: Fundamental Algorithms in MATLAB, 2nd ed., Springer, 2017.
Major Topics Covered in Course
  • Week 1. Introduction Defining robotics Brief History
  • Week 2. Basic Imaging for Robotics. Coordinate Transformations, Sensing
  • Week 3. Quiz 1, Probabilistic robotics
  • Week 4. Localization and Mapping,
  • Week 5. Mobile Platforms
  • Week 6. Path Planning, Quiz2
  • Week 7. Inertial Navigation 
  • Week 8. Review and Midterm
  • Week 9. Effectors and Actuators,
  • Week 10. Manipulators. Direct Kinematics
  • Week 11. Dynamics. Inverse Kinematics,
  • Week 12. Feedback Control, Quiz 3
  • Week 13. Behavior-based control
  • Week 14. Group Robotics
  • Week 15. Final Projects
Laboratory
Course Webpage

CSE378