Difference between revisions of "ME CS 132 2017"

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(Course Text and References)
(Course Lecture Schedule for ME/CS 132(a))
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| 4 Jan (Wed.)
 
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| Class Overview
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| Class Overview & Mechanics <br> The basic motion planning problem
 
| [[ME_CS_132_CourseOverview.pdf | Course Overview]]
 
| [[ME_CS_132_CourseOverview.pdf | Course Overview]]
 
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| 6 Jan (Fri.)
 
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| Planar Rigid Body Kinematics, <br> Planar displacements
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| Review of planar Rigid Body Kinematics, <br> Intro
 
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
 
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
 
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Revision as of 20:30, 1 January 2017

This is the homepage for ME/CS 132(a,b) (Introduction to Robotic Perception and Navigation) for Winter/Spring 2017.

Course Staff, Hours, Location

Position Name Office Office Hours (changing weekly) Email Phone
Instructor Joel Burdick 245 Gates-Thomas send mail for an appointment jwb at robotics dot caltech dot edu 626-395-4139
Teach Asst. TBD 205 Gates-Thomas TBD 626-395-????
Teach Asst. TBD 205 Gates-Thomas TBD 626-395-????
Administrative Sonya Lincoln 250 Gates-Thomas 7:30am-noon; 1:00pm-4:30pm lincolns at caltech dot edu 626-395-3385


  • Lecture Schedule: To be determine at the Organizational Meeting

Announcements For ME/CS 132(a.b)

  • 01/04/17: The permanent lecture hours and location will be determined at the course organizational meeting.

Course Text and References

1) The main text for the first half of the course is:

  • Planning Algorithms by Steve LaValle (UIUC).

You can buy this book on-line at Amazon. A preprint of the text is available freely on-line, and is adequate for all activities of this course. This book provides a comprehensive summary of classical motion planning theory and algorithms. Many of the more advanced topics (e.g., information-space approaches to planning, and evasion-pursuit algorithms) are beyond the immediate scope of this class, but they should be accessible to interested students.

2) The following book is recommended (but not required):

  • Principles of Robot Motion: Theory, Algorithms, and Implementations, by Howie Choset, Kevin Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia Kavraki, and Sebastian Thrun.

This text is available at Amazon in both new and used versions.

3) Interested students may wish to also consult the following classic (but now out-of-print) text on motion planning: Robot Motion Planning by J.C. Latombe. A copy is available in the Caltech library.

Course Mechanics, Grading, and Collaboration Policy

Grading

The final grade will be based on homework sets, and a final exam or final project:

  • Homework (70%): Homework sets will be handed out every 7-10 days, and are due at 5 pm on the due date (which will always coincide with a class meeting). Homeworks can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. Some homeworks will require computation. MATLAB or Mathematica should be sufficient to solve every homework posed in this course, though students can choose their favorite programming language. Code is considered part of your solution and should be included in with the problem set when appropriate.
  • Final exam/project (30%): Students have the option to take a final exam (a limited time take-home format exam which is open book, open note, and computer allowed) or select a final project. The final project must incorporate some aspect of the course, and the topic and scope my be approved by the course instructor. The final exam will due at 5:00 pm the last day of finals. The final project is similarly due at 5:00 pm on the last day of finals.
  • Late Homework Policy: Students may automatically take a 2-day extension on two homeworks during each quarter.

Collaboration Policy

Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor, but you must cite any use of material from outside references. All solutions that are handed in should be written up individually and should reflect your own understanding of the subject matter. Computer code and graphical plots are considered part of your solution, and therefore should be done individually (you can share ideas, but not code). No collaboration is allowed on the examinations.

Course Lecture Schedule for ME/CS 132(a)

Week Date Topic Reading Optional Reading Homework
1
Introduction and Review of Rigid Body Kinematics
4 Jan (Wed.) Class Overview & Mechanics
The basic motion planning problem
Course Overview -No Homework-
6 Jan (Fri.) Review of planar Rigid Body Kinematics,
Intro
MLS Ch 2.1, Pages 19-23 -N/A-
2
From Planar Rigid Body Kinematics to Spherical Kinematics
9 Jan (M) Displacement groups, poles
Planar Displacements (PowerPoint)
-N/A- Homework 1,
Solution 1
11 Jan (W) Centrodes: Ellliptical Trammel,
Trammel, V 1, V 2, compliation

Intro to Spherical Kinematics

MLS Pages 22-26,
Notes on the Elliptical Trammel,
Archemides Trammel (Wikipedia)
Polyhedral Linkages Synthesized Using Cardan Motion Along Radial Lines
13 Jan (F) Spherical Kinematics (continued),
Classical Matrix Groups
MLS Ch 2.2, 2.3,
Notes on the Classical Matrix Groups
-N/A-
3
Spherical Kinematics
16 Jan (M) No Class: Marin Luther King Holiday -N/A- -N/A- No Homework
18 Jan (W) Cayley's Theorem,
MLS 27-31,
Notes on Rotations
-N/A-
20 Jan (F) No Class MLS 31-34 -N/A-
4
Spherical Kinematics (continued)
25 Jan (M) Angle/Axis Representation and Rodriguez Formula MLS 34-39 Notes on Algebras -N/A-
27 Jan (W) No Class -N/A- -N/A-
29 Jan (W) No Class -N/A- -N/A-
5
Spatial Kinematics
1 Feb (M) No Class -N/A- -N/A- Homework 2,
Solution 2
3 Feb (W) Exponential Coordinates and Euler Angles MLS Ch 2.2, 2.3 -N/A-
5 Feb (F) Quaternions MLS Pages 51-52 -N/A-
6
Spatial Kinematics (continued)
8 Feb (M) Quaternions (continued),
Intro to Spatial Kinematics
MLS 34-39 Notes on Algebras Homework 3,
Solution 3
8 Feb (M) Spatial Displacments,
Chasle's Theorem, Exponential Coordinates
MLS Pages 35-50 -N/A-
10 Feb (W) Motion Capture
Rigid Body Velocities
MLS Pages 51-61; Rodriguez' Displacement Equation; -N/A-
12 Feb (F) No Class -N/A- -N/A-


7
Spatial Kinematics: Velocities and Wrenches
15 Feb (M) No Class: President's Day Holiday MLS Ch 2.3; -N/A- Homework 4,
Solution 4
17 Feb (W) Rigid Body Velocities (continued) MLS Ch 2.3 -N/A-
19 Feb(F) Transformation of Velocities
Wrenches and Poinsot's Theorem
MLS Ch 2.4-2.5 -N/A-
8
Robot Manipulators
22 Feb (M) Wrenches (continued),
Screw Theory
-N/A- -N/A- No Homework
22 Feb (M) Robot Manipulators: Introduction MLS Chapter 3, pages 81-94 -N/A-
23 Feb (W) Denavit Hartenberg Convention MLS Chapter 3, pages 81-94 -N/A-
25 Feb(F) Forward Kinematics via the Denavit-Hartenberg Convention MLS Ch 3, DH-Parameters (from Wikipedia),
Scan from Craig Book on D-H Parameters
9
Forward/Inverse Kinematics
29 Feb (M) Denavit-Hartenberg Convention (continued), Examples MLS Ch 3; Rodriguez' Displacement Equation; -N/A- Homework 5,
Solution 5
2 Mar (W) Product of Exponentials Formula MLS Ch 3 -N/A-
4 Mar(F) Inverse Kinematics MLS Ch 3 -N/A-
10
Jacobian Matrix and Singularities
7 Mar (M) Manipulator Jacobian Matrices MLS Ch 3, pages 115-120; -N/A- Optional Homework 6
7 Mar (M) Jacobian Matrix (continued), End-effector forces MLS Ch 3, 121-123; -N/A-
9 Mar (W) Manipulator Singularities MLS Ch 3, pp 123-127 -N/A-