Robotics - User contributions [en]

File:Lab2.17.pdf

2017-11-23T03:09:17Z

Jbowkett:

ME CS 133 2017-18

2017-11-23T02:59:03Z

Jbowkett: /* Linkges and Forward Kinematics */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
* '''11/17/17:''' [[Media:FinalProject.17a.pdf | Information on the Final Project Guidelines]] are available
* '''11/16/17:''' Extra Office hours for Lab #1 are
** 11/16/17 from 6:00-7:00 pm in SFL 326
* '''11/13/17:''' Lab 1 has been corrected and simplified. See the [[Media:Lab1corrected.pdf | New Corrected Version of Lab 1]]
* '''11/13/17:''' Office hours for Lab #1 are
** 11/13/17 from 6:30-7:30 in SFL 326
** 11/14/17 from 7-8 pm in SFL 231
* '''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18) [[Media:MECS133_sol2.17.pdf | Solution 2]]
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [[Media:ROS_tutorial.pdf | ROS Tutorial]] [[Media:MECS133_sol3_17.pdf | Solution 3]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 30 Oct. (M)
| Rigid Body Velocities and Coordinate Transformations
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [http://robotics.caltech.edu/~jbowkett/me133a_ros_tut.py Python script for ROS Tutorial] 
|-
| 1 Nov. (W)
| ROS Tutorial
| [[Media:ROS_tutorial.pdf | ROS Tutorial]]
| -N/A-
|-
| 3 NOV. (F)
| Turtlebot Tutorial
|
| -N/A-

|-
| align=center rowspan=4 | 7
| colspan=5 |

===== Spatial Kinematics and Intro to Linkages =====
|-
| 6 Nov. (M)
| Rigid Body Velocities Reviewed, Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 61-66]
|
| rowspan=3 align=center | [[Media:Lab1corrected.pdf | Lab 1 (corrected): Motion Capture]] [[Media:me133a_6nov_wand_250_270m.csv | me133a_6nov_wand_250_270m.csv]]; [http://robotics.caltech.edu/~jwb/courses/MECS133/optiTrack_matlab_template.m optitrack_matlab_template.m] Due Fri. Nov. 17 [http://robotics.caltech.edu/~jbowkett/OptitrackAnalysis_template.py Optitrack Python Analysis Template]
|-
| 8 Nov. (W)
| Intro to Kinematics of Linkages and Manipulators
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-
|-
| 10 Nov. (F)
| Denavit Hartenberg Parameters
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-

|-
| align=center rowspan=4 | 8
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 13 Nov. (M)
| ABET interview Denavit-Hartenberg Continued,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
|
| rowspan=3 align=center | [[Media:set4a.17.pdf | Homework #4]]
|-
| 15 Nov. (W)
| Elbow Manipulator Example
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
| -N/A-
|-
| 17 Nov. (F)
| Product of Exponentials approach to forward kinematics
| -N/A-
| -N/A-

|-
| align=center rowspan=4 | 9
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 20 Nov. (M)
| Manipulator Jacobian Matrix
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 115-121]
|
| rowspan=3 align=center | [[Media:Lab2.17.pdf | Lab #2]] [http://robotics.caltech.edu/~jbowkett/me133a_lab2.py Python script for Lab 2]
|-
| 22 Nov. (W)
| Elbow Manipulator Example
| [[Media:DiffDriveOdometry.pdf | Kinematics and Odometry of a Differential Drive Vehicle]]
| -N/A-
|-
| 24 Nov. (F)
| '''No Class''' (Institute Thanskgiving Holiday)
| -N/A-
| -N/A-

|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

ME CS 133 2017-18

2017-11-23T02:58:46Z

Jbowkett: /* Linkges and Forward Kinematics */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
* '''11/17/17:''' [[Media:FinalProject.17a.pdf | Information on the Final Project Guidelines]] are available
* '''11/16/17:''' Extra Office hours for Lab #1 are
** 11/16/17 from 6:00-7:00 pm in SFL 326
* '''11/13/17:''' Lab 1 has been corrected and simplified. See the [[Media:Lab1corrected.pdf | New Corrected Version of Lab 1]]
* '''11/13/17:''' Office hours for Lab #1 are
** 11/13/17 from 6:30-7:30 in SFL 326
** 11/14/17 from 7-8 pm in SFL 231
* '''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18) [[Media:MECS133_sol2.17.pdf | Solution 2]]
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [[Media:ROS_tutorial.pdf | ROS Tutorial]] [[Media:MECS133_sol3_17.pdf | Solution 3]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 30 Oct. (M)
| Rigid Body Velocities and Coordinate Transformations
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [http://robotics.caltech.edu/~jbowkett/me133a_ros_tut.py Python script for ROS Tutorial] 
|-
| 1 Nov. (W)
| ROS Tutorial
| [[Media:ROS_tutorial.pdf | ROS Tutorial]]
| -N/A-
|-
| 3 NOV. (F)
| Turtlebot Tutorial
|
| -N/A-

|-
| align=center rowspan=4 | 7
| colspan=5 |

===== Spatial Kinematics and Intro to Linkages =====
|-
| 6 Nov. (M)
| Rigid Body Velocities Reviewed, Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 61-66]
|
| rowspan=3 align=center | [[Media:Lab1corrected.pdf | Lab 1 (corrected): Motion Capture]] [[Media:me133a_6nov_wand_250_270m.csv | me133a_6nov_wand_250_270m.csv]]; [http://robotics.caltech.edu/~jwb/courses/MECS133/optiTrack_matlab_template.m optitrack_matlab_template.m] Due Fri. Nov. 17 [http://robotics.caltech.edu/~jbowkett/OptitrackAnalysis_template.py Optitrack Python Analysis Template]
|-
| 8 Nov. (W)
| Intro to Kinematics of Linkages and Manipulators
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-
|-
| 10 Nov. (F)
| Denavit Hartenberg Parameters
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-

|-
| align=center rowspan=4 | 8
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 13 Nov. (M)
| ABET interview Denavit-Hartenberg Continued,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
|
| rowspan=3 align=center | [[Media:set4a.17.pdf | Homework #4]]
|-
| 15 Nov. (W)
| Elbow Manipulator Example
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
| -N/A-
|-
| 17 Nov. (F)
| Product of Exponentials approach to forward kinematics
| -N/A-
| -N/A-

|-
| align=center rowspan=4 | 9
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 20 Nov. (M)
| Manipulator Jacobian Matrix
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 115-121]
|
| rowspan=3 align=center | {[Media:Lab2.17.pdf | Lab #2]} [http://robotics.caltech.edu/~jbowkett/me133a_lab2.py Python script for Lab 2]
|-
| 22 Nov. (W)
| Elbow Manipulator Example
| [[Media:DiffDriveOdometry.pdf | Kinematics and Odometry of a Differential Drive Vehicle]]
| -N/A-
|-
| 24 Nov. (F)
| '''No Class''' (Institute Thanskgiving Holiday)
| -N/A-
| -N/A-

|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

ME CS 133 2017-18

2017-11-23T02:58:27Z

Jbowkett: /* Linkges and Forward Kinematics */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
* '''11/17/17:''' [[Media:FinalProject.17a.pdf | Information on the Final Project Guidelines]] are available
* '''11/16/17:''' Extra Office hours for Lab #1 are
** 11/16/17 from 6:00-7:00 pm in SFL 326
* '''11/13/17:''' Lab 1 has been corrected and simplified. See the [[Media:Lab1corrected.pdf | New Corrected Version of Lab 1]]
* '''11/13/17:''' Office hours for Lab #1 are
** 11/13/17 from 6:30-7:30 in SFL 326
** 11/14/17 from 7-8 pm in SFL 231
* '''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18) [[Media:MECS133_sol2.17.pdf | Solution 2]]
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [[Media:ROS_tutorial.pdf | ROS Tutorial]] [[Media:MECS133_sol3_17.pdf | Solution 3]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 30 Oct. (M)
| Rigid Body Velocities and Coordinate Transformations
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [http://robotics.caltech.edu/~jbowkett/me133a_ros_tut.py Python script for ROS Tutorial] 
|-
| 1 Nov. (W)
| ROS Tutorial
| [[Media:ROS_tutorial.pdf | ROS Tutorial]]
| -N/A-
|-
| 3 NOV. (F)
| Turtlebot Tutorial
|
| -N/A-

|-
| align=center rowspan=4 | 7
| colspan=5 |

===== Spatial Kinematics and Intro to Linkages =====
|-
| 6 Nov. (M)
| Rigid Body Velocities Reviewed, Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 61-66]
|
| rowspan=3 align=center | [[Media:Lab1corrected.pdf | Lab 1 (corrected): Motion Capture]] [[Media:me133a_6nov_wand_250_270m.csv | me133a_6nov_wand_250_270m.csv]]; [http://robotics.caltech.edu/~jwb/courses/MECS133/optiTrack_matlab_template.m optitrack_matlab_template.m] Due Fri. Nov. 17 [http://robotics.caltech.edu/~jbowkett/OptitrackAnalysis_template.py Optitrack Python Analysis Template]
|-
| 8 Nov. (W)
| Intro to Kinematics of Linkages and Manipulators
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-
|-
| 10 Nov. (F)
| Denavit Hartenberg Parameters
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-

|-
| align=center rowspan=4 | 8
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 13 Nov. (M)
| ABET interview Denavit-Hartenberg Continued,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
|
| rowspan=3 align=center | [[Media:set4a.17.pdf | Homework #4]]
|-
| 15 Nov. (W)
| Elbow Manipulator Example
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
| -N/A-
|-
| 17 Nov. (F)
| Product of Exponentials approach to forward kinematics
| -N/A-
| -N/A-

|-
| align=center rowspan=4 | 9
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 20 Nov. (M)
| Manipulator Jacobian Matrix
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 115-121]
|
| rowspan=3 align=center | [Media:Lab2.17.pdf | Lab #2] [http://robotics.caltech.edu/~jbowkett/me133a_lab2.py Python script for Lab 2]
|-
| 22 Nov. (W)
| Elbow Manipulator Example
| [[Media:DiffDriveOdometry.pdf | Kinematics and Odometry of a Differential Drive Vehicle]]
| -N/A-
|-
| 24 Nov. (F)
| '''No Class''' (Institute Thanskgiving Holiday)
| -N/A-
| -N/A-

|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

ME CS 133 2017-18

2017-11-23T02:58:09Z

Jbowkett: /* Linkges and Forward Kinematics */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
* '''11/17/17:''' [[Media:FinalProject.17a.pdf | Information on the Final Project Guidelines]] are available
* '''11/16/17:''' Extra Office hours for Lab #1 are
** 11/16/17 from 6:00-7:00 pm in SFL 326
* '''11/13/17:''' Lab 1 has been corrected and simplified. See the [[Media:Lab1corrected.pdf | New Corrected Version of Lab 1]]
* '''11/13/17:''' Office hours for Lab #1 are
** 11/13/17 from 6:30-7:30 in SFL 326
** 11/14/17 from 7-8 pm in SFL 231
* '''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18) [[Media:MECS133_sol2.17.pdf | Solution 2]]
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [[Media:ROS_tutorial.pdf | ROS Tutorial]] [[Media:MECS133_sol3_17.pdf | Solution 3]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 30 Oct. (M)
| Rigid Body Velocities and Coordinate Transformations
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [http://robotics.caltech.edu/~jbowkett/me133a_ros_tut.py Python script for ROS Tutorial] 
|-
| 1 Nov. (W)
| ROS Tutorial
| [[Media:ROS_tutorial.pdf | ROS Tutorial]]
| -N/A-
|-
| 3 NOV. (F)
| Turtlebot Tutorial
|
| -N/A-

|-
| align=center rowspan=4 | 7
| colspan=5 |

===== Spatial Kinematics and Intro to Linkages =====
|-
| 6 Nov. (M)
| Rigid Body Velocities Reviewed, Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 61-66]
|
| rowspan=3 align=center | [[Media:Lab1corrected.pdf | Lab 1 (corrected): Motion Capture]] [[Media:me133a_6nov_wand_250_270m.csv | me133a_6nov_wand_250_270m.csv]]; [http://robotics.caltech.edu/~jwb/courses/MECS133/optiTrack_matlab_template.m optitrack_matlab_template.m] Due Fri. Nov. 17 [http://robotics.caltech.edu/~jbowkett/OptitrackAnalysis_template.py Optitrack Python Analysis Template]
|-
| 8 Nov. (W)
| Intro to Kinematics of Linkages and Manipulators
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-
|-
| 10 Nov. (F)
| Denavit Hartenberg Parameters
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-

|-
| align=center rowspan=4 | 8
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 13 Nov. (M)
| ABET interview Denavit-Hartenberg Continued,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
|
| rowspan=3 align=center | [[Media:set4a.17.pdf | Homework #4]]
|-
| 15 Nov. (W)
| Elbow Manipulator Example
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
| -N/A-
|-
| 17 Nov. (F)
| Product of Exponentials approach to forward kinematics
| -N/A-
| -N/A-

|-
| align=center rowspan=4 | 9
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 20 Nov. (M)
| Manipulator Jacobian Matrix
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 115-121]
|
| rowspan=3 align=center | [[Media:Lab2.17.pdf | Lab #2] [http://robotics.caltech.edu/~jbowkett/me133a_lab2.py Python script for Lab 2]
|-
| 22 Nov. (W)
| Elbow Manipulator Example
| [[Media:DiffDriveOdometry.pdf | Kinematics and Odometry of a Differential Drive Vehicle]]
| -N/A-
|-
| 24 Nov. (F)
| '''No Class''' (Institute Thanskgiving Holiday)
| -N/A-
| -N/A-

|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

ME CS 133 2017-18

2017-11-23T02:33:54Z

Jbowkett: /* Spatial Kinematics and Velocities */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
* '''11/17/17:''' [[Media:FinalProject.17a.pdf | Information on the Final Project Guidelines]] are available
* '''11/16/17:''' Extra Office hours for Lab #1 are
** 11/16/17 from 6:00-7:00 pm in SFL 326
* '''11/13/17:''' Lab 1 has been corrected and simplified. See the [[Media:Lab1corrected.pdf | New Corrected Version of Lab 1]]
* '''11/13/17:''' Office hours for Lab #1 are
** 11/13/17 from 6:30-7:30 in SFL 326
** 11/14/17 from 7-8 pm in SFL 231
* '''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18) [[Media:MECS133_sol2.17.pdf | Solution 2]]
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [[Media:ROS_tutorial.pdf | ROS Tutorial]] [[Media:MECS133_sol3_17.pdf | Solution 3]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 30 Oct. (M)
| Rigid Body Velocities and Coordinate Transformations
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [http://robotics.caltech.edu/~jbowkett/me133a_ros_tut.py Python script for ROS Tutorial] 
|-
| 1 Nov. (W)
| ROS Tutorial
| [[Media:ROS_tutorial.pdf | ROS Tutorial]]
| -N/A-
|-
| 3 NOV. (F)
| Turtlebot Tutorial
|
| -N/A-

|-
| align=center rowspan=4 | 7
| colspan=5 |

===== Spatial Kinematics and Intro to Linkages =====
|-
| 6 Nov. (M)
| Rigid Body Velocities Reviewed, Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 61-66]
|
| rowspan=3 align=center | [[Media:Lab1corrected.pdf | Lab 1 (corrected): Motion Capture]] [[Media:me133a_6nov_wand_250_270m.csv | me133a_6nov_wand_250_270m.csv]]; [http://robotics.caltech.edu/~jwb/courses/MECS133/optiTrack_matlab_template.m optitrack_matlab_template.m] Due Fri. Nov. 17 [http://robotics.caltech.edu/~jbowkett/OptitrackAnalysis_template.py Optitrack Python Analysis Template]
|-
| 8 Nov. (W)
| Intro to Kinematics of Linkages and Manipulators
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-
|-
| 10 Nov. (F)
| Denavit Hartenberg Parameters
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-

|-
| align=center rowspan=4 | 8
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 13 Nov. (M)
| ABET interview Denavit-Hartenberg Continued,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
|
| rowspan=3 align=center | [[Media:set4a.17.pdf | Homework #4]]
|-
| 15 Nov. (W)
| Elbow Manipulator Example
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
| -N/A-
|-
| 17 Nov. (F)
| Product of Exponentials approach to forward kinematics
| -N/A-
| -N/A-

|-
| align=center rowspan=4 | 9
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 20 Nov. (M)
| Manipulator Jacobian Matrix
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 115-121]
|
| rowspan=3 align=center | [[Media:Lab2.17.pdf | Lab #2]]
|-
| 22 Nov. (W)
| Elbow Manipulator Example
| [[Media:DiffDriveOdometry.pdf | Kinematics and Odometry of a Differential Drive Vehicle]]
| -N/A-
|-
| 24 Nov. (F)
| '''No Class''' (Institute Thanskgiving Holiday)
| -N/A-
| -N/A-

|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

ME CS 133 2017-18

2017-11-21T23:51:26Z

Jbowkett: /* Spatial Kinematics and Velocities */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
* '''11/17/17:''' [[Media:FinalProject.17a.pdf | Information on the Final Project Guidelines]] are available
* '''11/16/17:''' Extra Office hours for Lab #1 are
** 11/16/17 from 6:00-7:00 pm in SFL 326
* '''11/13/17:''' Lab 1 has been corrected and simplified. See the [[Media:Lab1corrected.pdf | New Corrected Version of Lab 1]]
* '''11/13/17:''' Office hours for Lab #1 are
** 11/13/17 from 6:30-7:30 in SFL 326
** 11/14/17 from 7-8 pm in SFL 231
* '''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18) [[Media:MECS133_sol2.17.pdf | Solution 2]]
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [[Media:ROS_tutorial.pdf | ROS Tutorial]] [[Media:MECS133_sol3_17.pdf | Solution 3]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 30 Oct. (M)
| Rigid Body Velocities and Coordinate Transformations
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [http://robotics.caltech.edu/~jbowkett/me133a_lab2.py Python script for ROS Tutorial & Lab 2] 
|-
| 1 Nov. (W)
| ROS Tutorial
| [[Media:ROS_tutorial.pdf | ROS Tutorial]]
| -N/A-
|-
| 3 NOV. (F)
| Turtlebot Tutorial
|
| -N/A-

|-
| align=center rowspan=4 | 7
| colspan=5 |

===== Spatial Kinematics and Intro to Linkages =====
|-
| 6 Nov. (M)
| Rigid Body Velocities Reviewed, Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 61-66]
|
| rowspan=3 align=center | [[Media:Lab1corrected.pdf | Lab 1 (corrected): Motion Capture]] [[Media:me133a_6nov_wand_250_270m.csv | me133a_6nov_wand_250_270m.csv]]; [http://robotics.caltech.edu/~jwb/courses/MECS133/optiTrack_matlab_template.m optitrack_matlab_template.m] Due Fri. Nov. 17 [http://robotics.caltech.edu/~jbowkett/OptitrackAnalysis_template.py Optitrack Python Analysis Template]
|-
| 8 Nov. (W)
| Intro to Kinematics of Linkages and Manipulators
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-
|-
| 10 Nov. (F)
| Denavit Hartenberg Parameters
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-

|-
| align=center rowspan=4 | 8
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 13 Nov. (M)
| ABET interview Denavit-Hartenberg Continued,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
|
| rowspan=3 align=center | [[Media:set4a.17.pdf | Homework #4]]
|-
| 15 Nov. (W)
| Product of Exponentials
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
| -N/A-
|-
| 17 Nov. (F)
| Kinematics of Wheeled Vehicles
| -N/A-
| -N/A-

|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

ME CS 133 2017-18

2017-11-16T23:32:10Z

Jbowkett: /* Course Staff, Hours, Location */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
* '''11/16/17:''' Extra Office hours for Lab #1 are
** 11/16/17 from 6:00-7:00 pm in SFL 326
* '''11/13/17:''' Lab 1 has been corrected and simplified. See the [[Media:Lab1corrected.pdf | New Corrected Version of Lab 1]]
* '''11/13/17:''' Office hours for Lab #1 are
** 11/13/17 from 6:30-7:30 in SFL 326
** 11/14/17 from 7-8 pm in SFL 231
* '''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18) [[Media:MECS133_sol2.17.pdf | Solution 2]]
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [http://robotics.caltech.edu/~jbowkett/me133a_lab1.py Python script for lab 1] [[Media:ROS_tutorial.pdf | ROS Tutorial]] [[Media:MECS133_sol3_17.pdf | Solution 3]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 30 Oct. (M)
| Rigid Body Velocities and Coordinate Transformations
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [http://robotics.caltech.edu/~jbowkett/me133a_lab2.py Python script for ROS Tutorial & Lab 2] 
|-
| 1 Nov. (W)
| ROS Tutorial
| [[Media:ROS_tutorial.pdf | ROS Tutorial]]
| -N/A-
|-
| 3 NOV. (F)
| Turtlebot Tutorial
|
| -N/A-

|-
| align=center rowspan=4 | 7
| colspan=5 |

===== Spatial Kinematics and Intro to Linkages =====
|-
| 6 Nov. (M)
| Rigid Body Velocities Reviewed, Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 61-66]
|
| rowspan=3 align=center | [[Media:Lab1corrected.pdf | Lab 1 (corrected): Motion Capture]] [[Media:me133a_6nov_wand_250_270m.csv | me133a_6nov_wand_250_270m.csv]]; [http://robotics.caltech.edu/~jwb/courses/MECS133/optiTrack_matlab_template.m optitrack_matlab_template.m] Due Fri. Nov. 17 [http://robotics.caltech.edu/~jbowkett/OptitrackAnalysis_template.py Optitrack Python Analysis Template]
|-
| 8 Nov. (W)
| Intro to Kinematics of Linkages and Manipulators
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-
|-
| 10 Nov. (F)
| Denavit Hartenberg Parameters
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-

|-
| align=center rowspan=4 | 8
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 13 Nov. (M)
| ABET interview Denavit-Hartenberg Continued,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
|
| rowspan=3 align=center | -N/A-
|-
| 15 Nov. (W)
| Product of Exponentials
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
| -N/A-
|-
| 17 Nov. (F)
| Kinematics of Wheeled Vehicles
| -N/A-
| -N/A-

|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

ME CS 133 2017-18

2017-11-16T23:31:40Z

Jbowkett: /* Course Staff, Hours, Location */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
* '''11/16/17:''' Extra Office hours for Lab #1 are
** 11/16/17 from 6:00-7:00 pm in SFL 326
* '''11/13/17:''' Lab 1 has been corrected and simplified. See the [[Media:Lab1corrected.pdf | New Corrected Version of Lab 1]]
* '''11/13/17:''' Office hours for Lab #1 are
** 11/13/17 from 6:30-7:30 in SFL 326
** 11/14/17 from 7-8 pm in SFL 231
* '''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18) [[Media:MECS133_sol2.17.pdf | Solution 2]]
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [http://robotics.caltech.edu/~jbowkett/me133a_lab1.py Python script for lab 1] [[Media:ROS_tutorial.pdf | ROS Tutorial]] [[Media:MECS133_sol3_17.pdf | Solution 3]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 30 Oct. (M)
| Rigid Body Velocities and Coordinate Transformations
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [http://robotics.caltech.edu/~jbowkett/me133a_lab2.py Python script for ROS Tutorial & Lab 2] 
|-
| 1 Nov. (W)
| ROS Tutorial
| [[Media:ROS_tutorial.pdf | ROS Tutorial]]
| -N/A-
|-
| 3 NOV. (F)
| Turtlebot Tutorial
|
| -N/A-

|-
| align=center rowspan=4 | 7
| colspan=5 |

===== Spatial Kinematics and Intro to Linkages =====
|-
| 6 Nov. (M)
| Rigid Body Velocities Reviewed, Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 61-66]
|
| rowspan=3 align=center | [[Media:Lab1corrected.pdf | Lab 1 (corrected): Motion Capture]] [[Media:me133a_6nov_wand_250_270m.csv | me133a_6nov_wand_250_270m.csv]]; [http://robotics.caltech.edu/~jwb/courses/MECS133/optiTrack_matlab_template.m optitrack_matlab_template.m] Due Fri. Nov. 17 [http://robotics.caltech.edu/~jbowkett/OptitrackAnalysis_template.py Optitrack Python Analysis Template]
|-
| 8 Nov. (W)
| Intro to Kinematics of Linkages and Manipulators
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-
|-
| 10 Nov. (F)
| Denavit Hartenberg Parameters
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-

|-
| align=center rowspan=4 | 8
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 13 Nov. (M)
| ABET interview Denavit-Hartenberg Continued,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
|
| rowspan=3 align=center | -N/A-
|-
| 15 Nov. (W)
| Product of Exponentials
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
| -N/A-
|-
| 17 Nov. (F)
| Kinematics of Wheeled Vehicles
| -N/A-
| -N/A-

|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

ME CS 133 2017-18

2017-11-16T23:31:14Z

Jbowkett: /* Course Staff, Hours, Location */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:me133tas@robotics.caltech.edu me133tas at robotics dot caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
* '''11/16/17:''' Extra Office hours for Lab #1 are
** 11/16/17 from 6:00-7:00 pm in SFL 326
* '''11/13/17:''' Lab 1 has been corrected and simplified. See the [[Media:Lab1corrected.pdf | New Corrected Version of Lab 1]]
* '''11/13/17:''' Office hours for Lab #1 are
** 11/13/17 from 6:30-7:30 in SFL 326
** 11/14/17 from 7-8 pm in SFL 231
* '''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18) [[Media:MECS133_sol2.17.pdf | Solution 2]]
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [http://robotics.caltech.edu/~jbowkett/me133a_lab1.py Python script for lab 1] [[Media:ROS_tutorial.pdf | ROS Tutorial]] [[Media:MECS133_sol3_17.pdf | Solution 3]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 30 Oct. (M)
| Rigid Body Velocities and Coordinate Transformations
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [http://robotics.caltech.edu/~jbowkett/me133a_lab2.py Python script for ROS Tutorial & Lab 2] 
|-
| 1 Nov. (W)
| ROS Tutorial
| [[Media:ROS_tutorial.pdf | ROS Tutorial]]
| -N/A-
|-
| 3 NOV. (F)
| Turtlebot Tutorial
|
| -N/A-

|-
| align=center rowspan=4 | 7
| colspan=5 |

===== Spatial Kinematics and Intro to Linkages =====
|-
| 6 Nov. (M)
| Rigid Body Velocities Reviewed, Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 61-66]
|
| rowspan=3 align=center | [[Media:Lab1corrected.pdf | Lab 1 (corrected): Motion Capture]] [[Media:me133a_6nov_wand_250_270m.csv | me133a_6nov_wand_250_270m.csv]]; [http://robotics.caltech.edu/~jwb/courses/MECS133/optiTrack_matlab_template.m optitrack_matlab_template.m] Due Fri. Nov. 17 [http://robotics.caltech.edu/~jbowkett/OptitrackAnalysis_template.py Optitrack Python Analysis Template]
|-
| 8 Nov. (W)
| Intro to Kinematics of Linkages and Manipulators
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-
|-
| 10 Nov. (F)
| Denavit Hartenberg Parameters
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-

|-
| align=center rowspan=4 | 8
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 13 Nov. (M)
| ABET interview Denavit-Hartenberg Continued,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
|
| rowspan=3 align=center | -N/A-
|-
| 15 Nov. (W)
| Product of Exponentials
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
| -N/A-
|-
| 17 Nov. (F)
| Kinematics of Wheeled Vehicles
| -N/A-
| -N/A-

|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

ME CS 133 2017-18

2017-11-14T02:13:33Z

Jbowkett: /* Spatial Kinematics and Intro to Linkages */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:jedlund@caltech.edu jedlund at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:efeldman@caltech.edu efeldman at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:lsurban@gmail.com lsurban at gmail dot com]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:nafty@caltech.edu nafty at caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
* '''11/13/17:''' Lab 1 has been corrected and simplified. See the [[Media:Lab1corrected.pdf | New Corrected Version of Lab 1]]
* '''11/13/17:''' Office hours for Lab #1 are
** 11/13/17 from 6:30-7:30 in SFL 326
** 11/14/17 from 7-8 pm in SFL 231
* '''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18) [[Media:MECS133_sol2.17.pdf | Solution 2]]
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [http://robotics.caltech.edu/~jbowkett/me133a_lab1.py Python script for lab 1] [[Media:ROS_tutorial.pdf | ROS Tutorial]] [[Media:MECS133_sol3_17.pdf | Solution 3]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 30 Oct. (M)
| Rigid Body Velocities and Coordinate Transformations
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [http://robotics.caltech.edu/~jbowkett/me133a_lab2.py Python script for ROS Tutorial & Lab 2] 
|-
| 1 Nov. (W)
| ROS Tutorial
| [[Media:ROS_tutorial.pdf | ROS Tutorial]]
| -N/A-
|-
| 3 NOV. (F)
| Turtlebot Tutorial
|
| -N/A-

|-
| align=center rowspan=4 | 7
| colspan=5 |

===== Spatial Kinematics and Intro to Linkages =====
|-
| 6 Nov. (M)
| Rigid Body Velocities Reviewed, Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 61-66]
|
| rowspan=3 align=center | [[Media:Lab1corrected.pdf | Lab 1 (corrected): Motion Capture]] [[Media:me133a_6nov_wand_250_270m.csv | me133a_6nov_wand_250_270m.csv]]; [http://robotics.caltech.edu/~jwb/courses/MECS133/optiTrack_matlab_template.m optitrack_matlab_template.m] Due Fri. Nov. 17 [http://robotics.caltech.edu/~jbowkett/OptitrackAnalysis_template.py Optitrack Python Analysis Template]
|-
| 8 Nov. (W)
| Intro to Kinematics of Linkages and Manipulators
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-
|-
| 10 Nov. (F)
| Denavit Hartenberg Parameters
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-

|-
| align=center rowspan=4 | 8
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 13 Nov. (M)
| ABET interview Denavit-Hartenberg Continued,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
|
| rowspan=3 align=center | -N/A-
|-
| 15 Nov. (W)
| Product of Exponentials
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
| -N/A-
|-
| 17 Nov. (F)
| Kinematics of Wheeled Vehicles
| -N/A-
| -N/A-

|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

ME CS 133 2017-18

2017-11-14T00:45:21Z

Jbowkett: /* Spatial Kinematics and Intro to Linkages */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:jedlund@caltech.edu jedlund at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:efeldman@caltech.edu efeldman at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:lsurban@gmail.com lsurban at gmail dot com]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:nafty@caltech.edu nafty at caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
* '''11/13/17:''' Office hours for Lab #1 are
** 11/13/17 from 6:30-7:30 in SFL 326
** 11/14/17 from 7-8 pm in SFL 231
* '''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18) [[Media:MECS133_sol2.17.pdf | Solution 2]]
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [http://robotics.caltech.edu/~jbowkett/me133a_lab1.py Python script for lab 1] [[Media:ROS_tutorial.pdf | ROS Tutorial]] [[Media:MECS133_sol3_17.pdf | Solution 3]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 30 Oct. (M)
| Rigid Body Velocities and Coordinate Transformations
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [http://robotics.caltech.edu/~jbowkett/me133a_lab2.py Python script for ROS Tutorial & Lab 2] 
|-
| 1 Nov. (W)
| ROS Tutorial
| [[Media:ROS_tutorial.pdf | ROS Tutorial]]
| -N/A-
|-
| 3 NOV. (F)
| Turtlebot Tutorial
|
| -N/A-

|-
| align=center rowspan=4 | 7
| colspan=5 |

===== Spatial Kinematics and Intro to Linkages =====
|-
| 6 Nov. (M)
| Rigid Body Velocities Reviewed, Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 61-66]
|
| rowspan=3 align=center | [[Media:Lab1.pdf | Lab 1: Motion Capture]] [[Media:me133a_6nov_wand_250_270m.csv | me133a_6nov_wand_250_270m.csv]]; [http://robotics.caltech.edu/~jwb/courses/MECS133/optiTrack_matlab_template.m optitrack_matlab_template.m] Due Wed. Nov. 15 [http://robotics.caltech.edu/~jbowkett/OptitrackAnalysis_template.py Optitrack Python Analysis Template]
|-
| 8 Nov. (W)
| Intro to Kinematics of Linkages and Manipulators
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-
|-
| 10 Nov. (F)
| Denavit Hartenberg Parameters
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-

|-
| align=center rowspan=4 | 8
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 13 Nov. (M)
| ABET interview Denavit-Hartenberg Continued,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
|
| rowspan=3 align=center | -N/A-
|-
| 15 Nov. (W)
| Product of Exponentials
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
| -N/A-
|-
| 17 Nov. (F)
| Kinematics of Wheeled Vehicles
| -N/A-
| -N/A-

|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

ME CS 133 2017-18

2017-11-13T22:35:28Z

Jbowkett: /* Spatial Kinematics and Velocities */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:jedlund@caltech.edu jedlund at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:efeldman@caltech.edu efeldman at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:lsurban@gmail.com lsurban at gmail dot com]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:nafty@caltech.edu nafty at caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
* '''11/13/17:''' Office hours for Lab #1 are
** 11/13/17 from 6:30-7:30 in SFL 326
** 11/14/17 from 7-8 pm in SFL 231
* '''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18) [[Media:MECS133_sol2.17.pdf | Solution 2]]
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [http://robotics.caltech.edu/~jbowkett/me133a_lab1.py Python script for lab 1] [[Media:ROS_tutorial.pdf | ROS Tutorial]] [[Media:MECS133_sol3_17.pdf | Solution 3]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 30 Oct. (M)
| Rigid Body Velocities and Coordinate Transformations
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [http://robotics.caltech.edu/~jbowkett/me133a_lab2.py Python script for ROS Tutorial & Lab 2] 
|-
| 1 Nov. (W)
| ROS Tutorial
| [[Media:ROS_tutorial.pdf | ROS Tutorial]]
| -N/A-
|-
| 3 NOV. (F)
| Turtlebot Tutorial
|
| -N/A-

|-
| align=center rowspan=4 | 7
| colspan=5 |

===== Spatial Kinematics and Intro to Linkages =====
|-
| 6 Nov. (M)
| Rigid Body Velocities Reviewed, Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 61-66]
|
| rowspan=3 align=center | [[Media:Lab1.pdf | Lab 1: Motion Capture]] [[Media:me133a_6nov_wand_250_270m.csv | me133a_6nov_wand_250_270m.csv]]; [http://robotics.caltech.edu/~jwb/courses/MECS133/optiTrack_matlab_template.m optitrack_matlab_template.m] Due Wed. Nov. 15
|-
| 8 Nov. (W)
| Intro to Kinematics of Linkages and Manipulators
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-
|-
| 10 Nov. (F)
| Denavit Hartenberg Parameters
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-

|-
| align=center rowspan=4 | 8
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 13 Nov. (M)
| ABET interview Denavit-Hartenberg Continued,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
|
| rowspan=3 align=center | -N/A-
|-
| 15 Nov. (W)
| Product of Exponentials
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
| -N/A-
|-
| 17 Nov. (F)
| Kinematics of Wheeled Vehicles
| -N/A-
| -N/A-

|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

ME CS 133 2017-18

2017-11-13T22:35:04Z

Jbowkett: /* Spatial Kinematics and Velocities */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:jedlund@caltech.edu jedlund at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:efeldman@caltech.edu efeldman at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:lsurban@gmail.com lsurban at gmail dot com]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:nafty@caltech.edu nafty at caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
* '''11/13/17:''' Office hours for Lab #1 are
** 11/13/17 from 6:30-7:30 in SFL 326
** 11/14/17 from 7-8 pm in SFL 231
* '''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18) [[Media:MECS133_sol2.17.pdf | Solution 2]]
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [http://robotics.caltech.edu/~jbowkett/me133a_lab1.py Python script for lab 1] [[Media:ROS_tutorial.pdf | ROS Tutorial]] [[Media:MECS133_sol3_17.pdf | Solution 3]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 30 Oct. (M)
| Rigid Body Velocities and Coordinate Transformations
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [http://robotics.caltech.edu/~jbowkett/me133a_lab1.py Python script for ROS Tutorial & Lab 2] 
|-
| 1 Nov. (W)
| ROS Tutorial
| [[Media:ROS_tutorial.pdf | ROS Tutorial]]
| -N/A-
|-
| 3 NOV. (F)
| Turtlebot Tutorial
|
| -N/A-

|-
| align=center rowspan=4 | 7
| colspan=5 |

===== Spatial Kinematics and Intro to Linkages =====
|-
| 6 Nov. (M)
| Rigid Body Velocities Reviewed, Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 61-66]
|
| rowspan=3 align=center | [[Media:Lab1.pdf | Lab 1: Motion Capture]] [[Media:me133a_6nov_wand_250_270m.csv | me133a_6nov_wand_250_270m.csv]]; [http://robotics.caltech.edu/~jwb/courses/MECS133/optiTrack_matlab_template.m optitrack_matlab_template.m] Due Wed. Nov. 15
|-
| 8 Nov. (W)
| Intro to Kinematics of Linkages and Manipulators
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-
|-
| 10 Nov. (F)
| Denavit Hartenberg Parameters
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-90]
| -N/A-

|-
| align=center rowspan=4 | 8
| colspan=5 |

===== Linkges and Forward Kinematics=====
|-
| 13 Nov. (M)
| ABET interview Denavit-Hartenberg Continued,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
|
| rowspan=3 align=center | -N/A-
|-
| 15 Nov. (W)
| Product of Exponentials
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 81-94]
| -N/A-
|-
| 17 Nov. (F)
| Kinematics of Wheeled Vehicles
| -N/A-
| -N/A-

|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

File:MECS133 sol3 17.pdf

2017-11-06T01:35:47Z

Jbowkett:

ME CS 133 2017-18

2017-11-06T01:34:00Z

Jbowkett: /* Spatial Kinematics and Velocities */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:jedlund@caltech.edu jedlund at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:efeldman@caltech.edu efeldman at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:lsurban@gmail.com lsurban at gmail dot com]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:nafty@caltech.edu nafty at caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
'''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18) [[Media:MECS133_sol2.17.pdf | Solution 2]]
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [http://robotics.caltech.edu/~jbowkett/me133a_lab1.py Python script for lab 1] [[Media:ROS_tutorial.pdf | ROS Tutorial]] [[Media:MECS133_sol3_17.pdf | Solution 3]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-
|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

ME CS 133 2017-18

2017-11-06T01:32:08Z

Jbowkett: /* Spatial Kinematics and Velocities */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:jedlund@caltech.edu jedlund at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:efeldman@caltech.edu efeldman at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:lsurban@gmail.com lsurban at gmail dot com]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:nafty@caltech.edu nafty at caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
'''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18) [[Media:MECS133_sol2.17.pdf | Solution 2]]
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [http://robotics.caltech.edu/~jbowkett/me133a_lab1.py Python script for lab 1] [[Media:ROS_tutorial.pdf | ROS Tutorial]] [[Media:MECS133_sol3.17.pdf | Solution 3]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-
|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

File:MECS133 sol2.17.pdf

2017-11-06T01:31:47Z

Jbowkett:

ME CS 133 2017-18

2017-11-06T01:31:36Z

Jbowkett: /* Spherical Kinematics */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:jedlund@caltech.edu jedlund at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:efeldman@caltech.edu efeldman at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:lsurban@gmail.com lsurban at gmail dot com]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:nafty@caltech.edu nafty at caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
'''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18) [[Media:MECS133_sol2.17.pdf | Solution 2]]
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [http://robotics.caltech.edu/~jbowkett/me133a_lab1.py Python script for lab 1] [[Media:ROS_tutorial.pdf | ROS Tutorial]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-
|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

File:ROS tutorial.pdf

2017-11-01T22:59:56Z

Jbowkett:

ME CS 133 2017-18

2017-11-01T22:59:43Z

Jbowkett: /* Spatial Kinematics and Velocities */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:jedlund@caltech.edu jedlund at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:efeldman@caltech.edu efeldman at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:lsurban@gmail.com lsurban at gmail dot com]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:nafty@caltech.edu nafty at caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
'''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18)
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [http://robotics.caltech.edu/~jbowkett/me133a_lab1.py Python script for lab 1] [[Media:ROS_tutorial.pdf | ROS Tutorial]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-
|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

ME CS 133 2017-18

2017-11-01T21:09:58Z

Jbowkett: /* Spatial Kinematics and Velocities */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:jedlund@caltech.edu jedlund at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:efeldman@caltech.edu efeldman at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:lsurban@gmail.com lsurban at gmail dot com]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:nafty@caltech.edu nafty at caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
'''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18)
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]] [http://robotics.caltech.edu/~jbowkett/me133a_lab1.py Python script for lab 1]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-
|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

ME CS 133 2017-18

2017-10-24T02:41:02Z

Jbowkett: /* Course Staff, Hours, Location */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-4470
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-4470

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:jedlund@caltech.edu jedlund at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:efeldman@caltech.edu efeldman at caltech dot edu]
| 626-395-4470
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:lsurban@gmail.com lsurban at gmail dot com]
| 626-395-4470
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:nafty@caltech.edu nafty at caltech dot edu]
| 626-395-4470

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
'''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18)
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-
|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

File:VirualMachineSetup.pdf

2017-10-24T02:34:03Z

Jbowkett:

ME CS 133 2017-18

2017-10-24T02:33:47Z

Jbowkett: /* Spatial Kinematics and Velocities */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-1989
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-1989

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:jedlund@caltech.edu jedlund at caltech dot edu]
| 626-395-1989
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:efeldman@caltech.edu efeldman at caltech dot edu]
| 626-395-1989
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:lsurban@gmail.com lsurban at gmail dot com]
| 626-395-1989
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:nafty@caltech.edu nafty at caltech dot edu]
| 626-395-1989

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
'''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18)
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachineSetup.pdf | Instructions on Acquiring Virtual Machine]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-
|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

ME CS 133 2017-18

2017-10-23T22:03:14Z

Jbowkett: /* Course Staff, Hours, Location */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-1989
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-1989

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:jedlund@caltech.edu jedlund at caltech dot edu]
| 626-395-1989
|-

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:efeldman@caltech.edu efeldman at caltech dot edu]
| 626-395-1989
|-

|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:lsurban@gmail.com lsurban at gmail dot com]
| 626-395-1989
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:nafty@caltech.edu nafty at caltech dot edu]
| 626-395-1989

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
'''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18)
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachine.pdf | Instructions on Acquiring Virtual Machine]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-
|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

ME CS 133 2017-18

2017-10-23T22:02:37Z

Jbowkett: /* Course Staff, Hours, Location */

This is the homepage for ME/CS 133(a,b) (Introduction to Robotics) for Fall/Winter 2017-18.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-1989
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-1989

|-
| '''Teach Asst.'''
| Ellen Feldman
| 205 Gates-Thomas
| TBD
| [mailto:efeldman@caltech.edu efeldman at caltech dot edu]
| 626-395-1989
|-

|-
| '''Teach Asst.'''
| Jeff Edlund
| 205 Gates-Thomas
| TBD
| [mailto:jedlund@caltech.edu jedlund at caltech dot edu]
| 626-395-1989
|-
|-
| '''Teach Asst.'''
| Luke Urban
| 205 Gates-Thomas
| TBD
| [mailto:lsurban@gmail.com lsurban at gmail dot com]
| 626-395-1989
|-

| '''Teach Asst.'''
| Daniel Naftalovich
| 205 Gates-Thomas
| TBD
| [mailto:nafty@caltech.edu nafty at caltech dot edu]
| 626-395-1989

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:'''
* '''Days:''' Monday, Wednesday, Friday
* '''Time:''' 3:00-3:55 pm
* '''Location:''' 135 Gates-Thomas

== Announcements For ME/CS 133(a,b) ==
'''10/13/17:''' Office hours for Homework #2
* Monday, Oct. 16, '''4:00 pm''' (after class, in Room 135 Gates-Thomas)
* Tuesday, Oct. 17, '''7:00-9:00 pm''' (room, 326 Sherman Fairchild)
'''10/11/17:''' Homework #2 is due Wednesday, October 18 (see link below)
'''10/04/17:''' Office hours for Homework 1 are:
* 4:00 pm-5:00 pm (right after class) on Friday, '''Oct. 6''' in Gates-Thomas 135
* 7:00 pm-10:00 pm Sunday, '''Oct. 8''', Sherman Fairchild Rooms 231 and 229
'''10/02/17:''' Homework 1 was distributed in class on Monday, and is available at the link below. It is due at 5:00 pm on Monday, Oct. 9, 2017.

== Course Lecture Schedule for ME/CS 133(a) ==
{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====
|-
| 25 Sept. (Mon.)
| Class Overview
| [[Media:MECS_133_overview_2017.pdf | Course Overview]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page Chapter 1 of MLS]
| [http://dlxs2.library.cornell.edu/k/kmoddl/pdf/013_002.pdf History of Kinematics Through 1900] (Introductory chapter from Kinematic Synthesis of Linkages)
| rowspan=3 align=center | -No Homework-

|-
| 27 Sept. (W)
| Planar Rigid Body Kinematics, Planar displacements
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23
| [https://en.wikipedia.org/wiki/Peaucellier%E2%80%93Lipkin_linkage Wikepedia Page on the Peaucellier Mechanism]

|-
| 29 Sept. (F)
| Planar Rigid Body Displacements (''continued''), Displacement groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], 
[[Media:PlanarDisplacements.pptx | Change of Reference in Planar Displacements]] (PowerPoint)
| -N/A-

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== From Planar Rigid Body Kinematics to Spherical Kinematics =====
|-
| 02 Oct. (M)
| poles, [http://robotics.caltech.edu/~jwb/courses/ME115/Lectures/Centrodes.pptx Centrodes], elliptic Trammel 
| [[Media:EllipticalTrammel.pdf | Notes on the Elliptical Trammel]]
| [http://en.wikipedia.org/wiki/Trammel_of_Archimedes Archemides Trammel] (Wikipedia) [https://www.youtube.com/watch?v=CBhxKavV_Xo Trammel], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 V 1], [https://www.youtube.com/watch?v=GAVx3x_H1eA&list=PL6534E936D46257BF&index=20# V 2], [https://www.youtube.com/watch?v=OMNArJh7umg&list=PL6534E936D46257BF&index=22 compliation], [[Media:PolyhedralLinkages.pdf | Linkages Synthesized Using Cardan Motion Along Radial Lines]]
| rowspan=3 align=center | [[Media:MECS133a_set1.17.pdf | Homework 1]], (Due Oct. 9) [[Media:MECS133_sol1.17.pdf | Solution 1]] [[Media:Homework1Grades.pdf | Histogram of grades received on Hwk 1]]

|-
| 04 Oct. (W)
| Intro to Spherical Kinematics
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Pages 22-26], [[Media:MatrixGroups.pdf | Notes on the Classical Matrix Groups]]
| -N/A-

|-
| 06 Oct. (F)
| Spherical Kinematics (''continued''), Classical Matrix Groups
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.2, 2.3], [[Media:rotation.pdf | Notes on Rotations]]
| [http://www.fulviofrisone.com/attachments/article/486/Weyl%20-%20The%20Classical%20Groups%20(168S).pdf Herman Weyl's book on the classical groups]

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Spherical Kinematics =====
|-
| 9 Oct. (M)
| Cayley's Theorem, Euler's Theorem
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 27-31]
| [https://en.wikipedia.org/wiki/Cayley_transform Wikipedia Page on Cayley Transform]
| rowspan=3 align=center | [[Media:MECS133a_set2a.17.pdf | Homework 2]] (Due Oct. 18)
|-
| 11 Oct. (W)
| Angle-Axis Representation, Rodriguez Formula, Matrix Exponential,
|
| -N/A-
|-
| 13 Oct. (F)
| Euler Angles
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 31-34]
| -N/A-

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Spherical Kinematics =====
|-
| 16 Oct. (M)
| Quaternions
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 33-34]
| [[Media:NotesOnAlgebras.pdf | Notes On Algebras]]
| rowspan=3 align=center | -N/A-
|-
| 18 Oct. (W)
| Quaternion Wrap-Up, Intro to Spatial Kinematics, Homogeneous Coordinates,
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 34-39]
| -N/A-
|-
| 20 Oct. (F)
| Spatial Exponential Coordinates, Intro to screws
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 39-45] [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 45-50]
| -N/A-

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== Spatial Kinematics and Velocities =====
|-
| 23 Oct. (M)
| Motion Capture via Rodriguez Equation Intro to Rigid Body Velocities
| [[Media:Rodriguez.pdf | Using Rodriguez' Displacement Equation]], [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 51-56]
|
| rowspan=3 align=center | [[Media:MECS133a_set3.pdf | Homework 3]] [[Media:VirualMachine.pdf | Instructions on Acquiring Virtual Machine]]
|-
| 25 Oct. (W)
| Rigid Body Velocities Continued Intro to Wrenches
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS 57-64]
| -N/A-
|-
| 27 Oct. (F)
| ''No Class''
|
| -N/A-
|}

== Course Text and References ==

The '''main course text''' for '''ME/CS 133(a)''' is:
* [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page R.M. Murray, Z. Li, and S. Sastry, ''A Mathematical Introduction to Robotic Manipulation,'' CR Press, 1994.]
* The 1st edition of this book is available freely on-line at the link above, and is perfectly adequate for the course

We will refer to this text as ''MLS'' (the initials of the authors' last names). While the course topics will follow the text, additional material will often be presented in class. Additional course handouts covering this material will be posted on this website

A ''' main text''' for the '''ME/CS 133(b)''' is: ''Planning Algorithms'' by Steve LaValle (UIUC).
* You can buy this book [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

The following book is recommended (but not required) for ME/CS 133(b):
* ''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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books available at Amazon ]
in both new and used versions.

=== Grading ===

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

* ''' Homework (40%):''' Homework sets 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 ME/CS 133(a), 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.

* ''' Laboratory (30%):''' Lab reports are due at 5 pm on the due date (which will usually coincide with a class meeting). Labs can be dropped off in class, or deposited in the box outside of 245 Gates-Thomas. The first labs will familiarize students with the class robots. Subsequent labs will focus on how to translate the lecture material to the lab robots, and will often involve the use of software systems such as ROS and OOMPL.

* '''Final exam/project (30%):''' In ME/CS 133(a), 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 or labs 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.

Classes

2017-09-25T23:01:35Z

Jbowkett:

[[CDS110_2016 | CDS 110 Fall 2016]] - Introduction to Feedback Control Systems

[[ME115_2016 | ME 115a/b Winter/Spring 2016]] - Introduction to Kinematics and Robotics

[[ME_CS_132_2017 | ME/CS 132a/b Winter/Spring 2017]] - Advanced Robotics: Navigation and Vision

[[ME_CS_133_2017-18 | ME/CS 133a/b Fall/Winter 2017/2018]] - Robotics

Classes

2017-09-25T23:01:10Z

Jbowkett:

[[CDS110_2016 | CDS 110 Fall 2016]] - Introduction to Feedback Control Systems

[[ME115_2016 | ME 115a/b Winter/Spring 2016]] - Introduction to Kinematics and Robotics

[[ME_CS_132_2017 | ME/CS 132a/b Winter/Spring 2017]] - Advanced Robotics: Navigation and Vision

[[ME_CS_1332017-2018 | ME/CS 133a/b Fall/Winter 2017/2018]] - Robotics

File:ME132b TurtleBot Bringup.pdf

2017-05-25T00:18:57Z

Jbowkett:

ME CS 132 2017

2017-05-25T00:18:40Z

Jbowkett: /* Announcements For ME/CS 132(a,b) */

This is the homepage for ME/CS 132(a,b) (Advanced Robotics: Navigation and Vision) for Winter/Spring 2017.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-1989
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-1989

|-
| '''Teach Asst.'''
| Yoke Peng Leong
| Annenberg
| TBD
| [mailto:ypleong@caltech.edu ypleong at caltech dot edu]
| 626-395-????

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:''' Based on a vote in the first organizing class, for the near future ME/CS 132(b) we meet at these times:
* '''Monday:''' 10:00-11:00 am - 115 Gates-Thomas
* '''Wednesday:''' 2:00-3:00 pm. - 384 Firestone
* '''Friday:''' 3:00-4:00 pm. - 384 Firestone

'''Note:''' As the course enrollment firms up, we will vote one more time to find the most convenient time.

== Announcements For ME/CS 132(a,b) ==
* '''05/15/17:''' Bookings for hardware to use in the final project can be made [https://teamup.com/ks6zum7yvnwp2tfvxz here], with descriptions on how to bring up the [http://developer.parrot.com/docs/slamdunk/#overview Parrot SLAM Dunk] and [[Media:ME132b_TurtleBot_Bringup.pdf | TurtleBot]]
* '''05/12/17:''' The class lecture is '''CANCELLED''' today. Class will resume on Monday as scheduled
* '''05/10/17:''' The [[Media:FinalProjectGuidelines2017.pdf | Final Project Guidelines]] are available.
* '''05/01/17:''' Demo times for Lab 3 are available [https://doodle.com/poll/3h2n8xes4gx925cf here]
* '''04/26/17:''' '''CLASS IS CANCELLED TODAY'''. We will have the regularly scheduled class on Friday.
* '''04/19/17:''' Lab 1b is available below, with demo times available [https://doodle.com/poll/k2cazrchru88yp2c here]
* '''04/10/17:''' Lab 1a is available below, with demo times available [https://doodle.com/poll/c88ht4by4sxdkctq here]
* '''03/15/17:''' The [[Media:FinalExam.pdf | Final Exam]] is available. Directions are on the front page.
* '''03/01/17:''' Homework 4 (last homework) deadline pushed to Friday March 10th to allow time for report writing after second hardware demos conclude Thursday
* '''02/28/17:''' Homework 4 deadline pushed to Wendesday March 8th, scheduling for 1st hardware demo sent in email
* '''02/22/17:''' [[Media:MECS132_FinalProject2017.pdf | Final Project Guidelines]] are available
* '''02/13/17:''' Office Hours for Homework #3 will be held 6-7 pm on Wed., Feb 15 in 220 SFL, and 4:00-5:30 pm on Thurs., Feb 16 in 231 SFL
* '''02/01/17:''' Office Hours for Homework #2 will be held 7:30-9:00 pm on Thurs., Feb. 1 in 135 Gates-Thomas
* '''01/22/17:''' Office Hours for Hmmeowrk #1 will be held 8-10 pm on Sunday, Jan. 22 in 135 Gates-THomas.
* '''01/05/17:''' The meeting time and place have been set for the class lectures.
* '''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 [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books 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 Lecture Schedule for ME/CS 132(b) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
===== Odometry and Localization =====

|-
| 3 Apr. (Mon.)
| Class Overview & Mechanics 
| [[Media:ME_CS_132b_CourseOverview.pdf | ME/CS 132(b) Course Overview]]
|
| rowspan=3 align=center | -No Homework-

|-
| 5 Apr. (Wed.)
| Review of Wheel Odometry and Intro to Inertial Navigation
| [[Media:DiffDriveOdometry.pdf | Odometry for a Planar Differential Drive Vehicle]] [[Media:InertialNavigation.pdf | Slides on Inertial Navigation]]
|

|-
| 7 Apr. (Fri.)
| Inertial Navigation: Review of Spherical Kinematics
|
|

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== Inertial Navigation (continued) =====

|-
| 10 Apr. (M)
| Inertial Navigation: Rigid Body Velocities and Orientation Estimation
|
|
| rowspan=3 align=center | [[Media:132b_2017_lab1a.pdf | Lab 1a]]

|-
| 12 Apr. (W)
| Inertial Navigation: Position Estimation and Euler Angles
| [[Media:InertialNavigationNotes.pdf | Notes on The Kinematics of Inertial Navigation]]
|

|-
| 14 Apr. (F)
| Review of Kalman Filters
| Choset et. al, Chapter 8
|

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Localization & Estimation =====

|-
| 17 Apr. (M)
| Euler Angles & Intro to Localization
|
|
| rowspan=3 align=center | [[Media:132b_2017_lab1b.pdf | Lab 1b]]

|-
| 19 Apr. (W)
| Kalman Filters with no noise or disturbance
|
|

|-
| 21 Apr. (F)
| Kalman Filters (continued)
|
|

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Localization & Estimation =====

|-
| 24 Apr. (M)
| Range and Bearing Localization
|
|
| rowspan=3 align=center | [[Media:132b_2017_lab3.pdf | Lab 3]]

|-
| 26 Apr. (W)
| Class Cancelled
|
|

|-
| 28 Apr. (F)
| Intro to SLAM (Simultaneous Localization and Mapping)
| [[Media:SLAM1.pdf | Tutorial Paper on SLAM 1]]; [[Media:SLAM2.pdf | Tutorial Paper on SLAM 2]]
| [[Media:PastPresentFutureSLAM.pdf | Recent Survey paper on SLAM]]

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== SLAM (continued) =====

|-
| 1 May (M)
| Intro to EKF SLAM
|
| [[Media:SLAM_Solution.pdf | Paper on EKF SLAM]]
| rowspan=3 align=center | -N/A-

|-
| 3 May (W)
| EKF SLAM (continued) Scan Matching
| [[Media:SLAMnotes.pdf | Notes on Feature-Based EKF SLAM]]
|

|-
| 5 May (F)
| SCAN matching and SLAM
| [[Media:LuMilios_Paper.pdf | Lu & Milio Paper on Scan Matching Odometry]]
| [[Media:SCKF.pdf | Stochastic Cloning for Relative State Measurements]] [http://wiki.ros.org/laser_scan_matcher ROS Scan Matching Package]; [https://www.mathworks.com/help/robotics/ref/matchscans.html Matlab ScanMatch Function]; [http://wiki.ros.org/laser_scan_matcher ROS ScanMatching Package]

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Visual Odometry and SLAM =====

|-
| 8 May (M)
| Visual Odometry (continued) Final Project Discussion
| [[Media:VisualOdometryNotes.pdf | Notes on Visual Odometry]]
|
| rowspan=3 align=center | -N/A-

|-
| 10 May (W)
| Scan Matching, RGB-D cameras Final Project Discussion
|
| [[Media:KinectIntro.pdf | Intro to the Kinect 1]] [[Media:Kinect_StructureVsTOF.pdf | Structured Vs. Time of Flight Kinect]]

|-
| 12 May (F)
| RGB-D cameras continued
|
|

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Visual Odometry and SLAM =====

|-
| 15 May (M)
| Stereo Vision
| [[Media:StereoVisionSummary.pdf | Slides on Stereo Vision]]
|
| rowspan=3 align=center | -N/A-

|-
| 17 May (W)
| Discussion on Probabilistic Planning
|
|

|-
| 19 May (F)
| No Class
|
|

|}

== Course Lecture Schedule for ME/CS 132(a) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=3 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====

|-
| 4 Jan (Wed.)
| Class Overview & Mechanics The basic motion planning problem
| [[Media:ME_CS_132_CourseOverview.pdf | Course Overview]]
| [http://msl.cs.uiuc.edu/planning/ch1.pdf Chapter 1 of Lavalle]
| rowspan=2 align=center | -No Homework-

|-
| 6 Jan (Fri.)
| Review of Motion Planning Problems and Issues
|
|

|-
| align=center rowspan=3 | 2
| colspan=5 |
===== Intro to C-space and the Basic Motion Planning Problem =====

|-
| 11 Jan (W)
| Configuration Space (C-space) Review of Planar Rigid Body Kinematics
| Lavalle 4.2.1; Lavalle Chapter 3.2.2 (pages 94-97) [[Media: CObstacleNotes.pdf | Notes on C-obstacles]]; [[Media:StarAlgorithm.pdf | The Star Algorithm]];
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23 Lavalle Chapter 3.1
| rowspan=2 align=center | [[Media:ME_CS_132_2016_Homework1.pdf | Homework 1]], [[Media:ME_CS_132_2016_Solution1.pdf | Solution 1]]

|-
| 13 Jan (F)
| Configuration-Space Obstacles
| Lavalle Chapter 4.3 [[Media:CObstacle_Param.pdf | Notes on Parametrized C-obstacles]]
| [[Media:EllipseCObstacle.pdf | Picture of C-Obstacle]]; [https://www.youtube.com/watch?v=SBFwgR4K1Gk C-space Visualization Video];[http://demonstrations.wolfram.com/RobotMotionWithObstacles/ Mathematica Demo of Manipulator C-Obstacles];

|-
| align=center rowspan=2 | 3
| colspan=5 |

===== C-obstacles and the Classical Motion Planning Algorithms =====

|-
| 18 Jan (W)
| Computing C--space obstacles Review of Classical Motion Planning Algorithms The Road Map
| Lavalle 4.3 (pages 155-167) Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 4
| colspan=5 |
===== Roadmap Motion Planning Algorithms =====

|-
| 25 Jan (W)
| The Road Map (continued) Intro to Potential Field Methods
| Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | [[Media:Homework2.pdf | Homework #2]] [[Media:ME132_VM_Setup.pdf | Instructions for OMPL and ROS Virtual Machine Setup]]

|-
| align=center rowspan=2 | 5
| colspan=5 |

===== Potential Field and Cellular Decomposition Algorithms =====

|-
| 1 Feb (W)
| Potential Fields continued Cellular Decomposition Methods
| Lavalle 6.3 (Cellular Decompositions)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 6
| colspan=5 |

===== Sampling Based Methods and Graphs Search Algorithms =====

|-
| 8 Feb (W)
| Sampling Based Planning Methods Brief Tutorial on Graph Searching
| Lavalle, Sections 5.2-5.5 (Samplinlg Based Methods) Lavalle, Section 2.1 and 2.2 [[Media:Astar.pdf | Notes on A-star]]
|
| rowspan=1 align=center | [[Media:Homework3.pdf | Homework #3]] [[Media:ME132_Lab2.pdf | Instructions for Lab 2]] [http://robotics.caltech.edu/~jbowkett/me132_lab2.tar.gz Files for Lab 2]

|-
| align=center rowspan=2 | 7
| colspan=5 |

===== Graphs Search (continued), Sensor-Based Motion Planning =====

|-
| 15 Feb (W)
| A-Star & Dijkstra Graph Search Bug Algorithms
| [[Media:Astar.pdf | Notes on A-star]]; [[Media:AstarAnalysis.pdf | Analysis of A-Star]] [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
| [http://robotics.caltech.edu/~jwb/courses/ME132/handouts/LumelskyBug.pdf Lumelsky Bug Algorithm Paper]
| -N/A-

|-
| align=center rowspan=2 | 8
| colspan=5 |

===== Sensor-Based Motion Planning (continued) =====

|-
| 22 Feb (W)
| Tangent Bug Algorithm, Sensorized GVD, D*-Algorithm
| [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
|
| rowspan=1 align=center | [[Media:Homework4.pdf | Homework #4]] [http://robotics.caltech.edu/~jbowkett/me132_lab3.tar.gz Files for HW4/Lab 3]

|-
| align=center rowspan=2 | 9
| colspan=5 |

===== Sensor-Based Motion Planning, Intro to Localization/Mapping =====

|-
| 1 Mar (W)
| D*-Algorithm Intro to Localization and Mapping
| [[Media:DStar_Paper.pdf | D* Paper]] [[Media:DStar_Slides.pdf | Slides on D* Algorithms ]] Lavalle Section 12.3.2
|
| N/A-

|-
| align=center rowspan=2 | 10
| colspan=5 |

===== Intro to Localization/Mapping =====

|-
| 8 Mar (W)
| Odometry (wheeled and Laser scan matching)
| [[Media:LuMilios_Paper.pdf | Lu & Milio Paper on Scan Matching Odometry]]
|
| N/A-

|}

== 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.

ME CS 132 2017

2017-05-25T00:18:17Z

Jbowkett: /* Announcements For ME/CS 132(a,b) */

This is the homepage for ME/CS 132(a,b) (Advanced Robotics: Navigation and Vision) for Winter/Spring 2017.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-1989
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-1989

|-
| '''Teach Asst.'''
| Yoke Peng Leong
| Annenberg
| TBD
| [mailto:ypleong@caltech.edu ypleong at caltech dot edu]
| 626-395-????

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:''' Based on a vote in the first organizing class, for the near future ME/CS 132(b) we meet at these times:
* '''Monday:''' 10:00-11:00 am - 115 Gates-Thomas
* '''Wednesday:''' 2:00-3:00 pm. - 384 Firestone
* '''Friday:''' 3:00-4:00 pm. - 384 Firestone

'''Note:''' As the course enrollment firms up, we will vote one more time to find the most convenient time.

== Announcements For ME/CS 132(a,b) ==
* '''05/15/17:''' Bookings for hardware to use in the final project can be made [https://teamup.com/ks6zum7yvnwp2tfvxz here], with descriptions on how to bring up the [http://developer.parrot.com/docs/slamdunk/#overview Parrot SLAM Dunk] and [[Media:ME132b_TurtleBot_Bringup.pdf TurtleBot]]
* '''05/12/17:''' The class lecture is '''CANCELLED''' today. Class will resume on Monday as scheduled
* '''05/10/17:''' The [[Media:FinalProjectGuidelines2017.pdf | Final Project Guidelines]] are available.
* '''05/01/17:''' Demo times for Lab 3 are available [https://doodle.com/poll/3h2n8xes4gx925cf here]
* '''04/26/17:''' '''CLASS IS CANCELLED TODAY'''. We will have the regularly scheduled class on Friday.
* '''04/19/17:''' Lab 1b is available below, with demo times available [https://doodle.com/poll/k2cazrchru88yp2c here]
* '''04/10/17:''' Lab 1a is available below, with demo times available [https://doodle.com/poll/c88ht4by4sxdkctq here]
* '''03/15/17:''' The [[Media:FinalExam.pdf | Final Exam]] is available. Directions are on the front page.
* '''03/01/17:''' Homework 4 (last homework) deadline pushed to Friday March 10th to allow time for report writing after second hardware demos conclude Thursday
* '''02/28/17:''' Homework 4 deadline pushed to Wendesday March 8th, scheduling for 1st hardware demo sent in email
* '''02/22/17:''' [[Media:MECS132_FinalProject2017.pdf | Final Project Guidelines]] are available
* '''02/13/17:''' Office Hours for Homework #3 will be held 6-7 pm on Wed., Feb 15 in 220 SFL, and 4:00-5:30 pm on Thurs., Feb 16 in 231 SFL
* '''02/01/17:''' Office Hours for Homework #2 will be held 7:30-9:00 pm on Thurs., Feb. 1 in 135 Gates-Thomas
* '''01/22/17:''' Office Hours for Hmmeowrk #1 will be held 8-10 pm on Sunday, Jan. 22 in 135 Gates-THomas.
* '''01/05/17:''' The meeting time and place have been set for the class lectures.
* '''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 [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books 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 Lecture Schedule for ME/CS 132(b) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
===== Odometry and Localization =====

|-
| 3 Apr. (Mon.)
| Class Overview & Mechanics 
| [[Media:ME_CS_132b_CourseOverview.pdf | ME/CS 132(b) Course Overview]]
|
| rowspan=3 align=center | -No Homework-

|-
| 5 Apr. (Wed.)
| Review of Wheel Odometry and Intro to Inertial Navigation
| [[Media:DiffDriveOdometry.pdf | Odometry for a Planar Differential Drive Vehicle]] [[Media:InertialNavigation.pdf | Slides on Inertial Navigation]]
|

|-
| 7 Apr. (Fri.)
| Inertial Navigation: Review of Spherical Kinematics
|
|

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== Inertial Navigation (continued) =====

|-
| 10 Apr. (M)
| Inertial Navigation: Rigid Body Velocities and Orientation Estimation
|
|
| rowspan=3 align=center | [[Media:132b_2017_lab1a.pdf | Lab 1a]]

|-
| 12 Apr. (W)
| Inertial Navigation: Position Estimation and Euler Angles
| [[Media:InertialNavigationNotes.pdf | Notes on The Kinematics of Inertial Navigation]]
|

|-
| 14 Apr. (F)
| Review of Kalman Filters
| Choset et. al, Chapter 8
|

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Localization & Estimation =====

|-
| 17 Apr. (M)
| Euler Angles & Intro to Localization
|
|
| rowspan=3 align=center | [[Media:132b_2017_lab1b.pdf | Lab 1b]]

|-
| 19 Apr. (W)
| Kalman Filters with no noise or disturbance
|
|

|-
| 21 Apr. (F)
| Kalman Filters (continued)
|
|

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Localization & Estimation =====

|-
| 24 Apr. (M)
| Range and Bearing Localization
|
|
| rowspan=3 align=center | [[Media:132b_2017_lab3.pdf | Lab 3]]

|-
| 26 Apr. (W)
| Class Cancelled
|
|

|-
| 28 Apr. (F)
| Intro to SLAM (Simultaneous Localization and Mapping)
| [[Media:SLAM1.pdf | Tutorial Paper on SLAM 1]]; [[Media:SLAM2.pdf | Tutorial Paper on SLAM 2]]
| [[Media:PastPresentFutureSLAM.pdf | Recent Survey paper on SLAM]]

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== SLAM (continued) =====

|-
| 1 May (M)
| Intro to EKF SLAM
|
| [[Media:SLAM_Solution.pdf | Paper on EKF SLAM]]
| rowspan=3 align=center | -N/A-

|-
| 3 May (W)
| EKF SLAM (continued) Scan Matching
| [[Media:SLAMnotes.pdf | Notes on Feature-Based EKF SLAM]]
|

|-
| 5 May (F)
| SCAN matching and SLAM
| [[Media:LuMilios_Paper.pdf | Lu & Milio Paper on Scan Matching Odometry]]
| [[Media:SCKF.pdf | Stochastic Cloning for Relative State Measurements]] [http://wiki.ros.org/laser_scan_matcher ROS Scan Matching Package]; [https://www.mathworks.com/help/robotics/ref/matchscans.html Matlab ScanMatch Function]; [http://wiki.ros.org/laser_scan_matcher ROS ScanMatching Package]

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Visual Odometry and SLAM =====

|-
| 8 May (M)
| Visual Odometry (continued) Final Project Discussion
| [[Media:VisualOdometryNotes.pdf | Notes on Visual Odometry]]
|
| rowspan=3 align=center | -N/A-

|-
| 10 May (W)
| Scan Matching, RGB-D cameras Final Project Discussion
|
| [[Media:KinectIntro.pdf | Intro to the Kinect 1]] [[Media:Kinect_StructureVsTOF.pdf | Structured Vs. Time of Flight Kinect]]

|-
| 12 May (F)
| RGB-D cameras continued
|
|

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Visual Odometry and SLAM =====

|-
| 15 May (M)
| Stereo Vision
| [[Media:StereoVisionSummary.pdf | Slides on Stereo Vision]]
|
| rowspan=3 align=center | -N/A-

|-
| 17 May (W)
| Discussion on Probabilistic Planning
|
|

|-
| 19 May (F)
| No Class
|
|

|}

== Course Lecture Schedule for ME/CS 132(a) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=3 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====

|-
| 4 Jan (Wed.)
| Class Overview & Mechanics The basic motion planning problem
| [[Media:ME_CS_132_CourseOverview.pdf | Course Overview]]
| [http://msl.cs.uiuc.edu/planning/ch1.pdf Chapter 1 of Lavalle]
| rowspan=2 align=center | -No Homework-

|-
| 6 Jan (Fri.)
| Review of Motion Planning Problems and Issues
|
|

|-
| align=center rowspan=3 | 2
| colspan=5 |
===== Intro to C-space and the Basic Motion Planning Problem =====

|-
| 11 Jan (W)
| Configuration Space (C-space) Review of Planar Rigid Body Kinematics
| Lavalle 4.2.1; Lavalle Chapter 3.2.2 (pages 94-97) [[Media: CObstacleNotes.pdf | Notes on C-obstacles]]; [[Media:StarAlgorithm.pdf | The Star Algorithm]];
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23 Lavalle Chapter 3.1
| rowspan=2 align=center | [[Media:ME_CS_132_2016_Homework1.pdf | Homework 1]], [[Media:ME_CS_132_2016_Solution1.pdf | Solution 1]]

|-
| 13 Jan (F)
| Configuration-Space Obstacles
| Lavalle Chapter 4.3 [[Media:CObstacle_Param.pdf | Notes on Parametrized C-obstacles]]
| [[Media:EllipseCObstacle.pdf | Picture of C-Obstacle]]; [https://www.youtube.com/watch?v=SBFwgR4K1Gk C-space Visualization Video];[http://demonstrations.wolfram.com/RobotMotionWithObstacles/ Mathematica Demo of Manipulator C-Obstacles];

|-
| align=center rowspan=2 | 3
| colspan=5 |

===== C-obstacles and the Classical Motion Planning Algorithms =====

|-
| 18 Jan (W)
| Computing C--space obstacles Review of Classical Motion Planning Algorithms The Road Map
| Lavalle 4.3 (pages 155-167) Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 4
| colspan=5 |
===== Roadmap Motion Planning Algorithms =====

|-
| 25 Jan (W)
| The Road Map (continued) Intro to Potential Field Methods
| Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | [[Media:Homework2.pdf | Homework #2]] [[Media:ME132_VM_Setup.pdf | Instructions for OMPL and ROS Virtual Machine Setup]]

|-
| align=center rowspan=2 | 5
| colspan=5 |

===== Potential Field and Cellular Decomposition Algorithms =====

|-
| 1 Feb (W)
| Potential Fields continued Cellular Decomposition Methods
| Lavalle 6.3 (Cellular Decompositions)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 6
| colspan=5 |

===== Sampling Based Methods and Graphs Search Algorithms =====

|-
| 8 Feb (W)
| Sampling Based Planning Methods Brief Tutorial on Graph Searching
| Lavalle, Sections 5.2-5.5 (Samplinlg Based Methods) Lavalle, Section 2.1 and 2.2 [[Media:Astar.pdf | Notes on A-star]]
|
| rowspan=1 align=center | [[Media:Homework3.pdf | Homework #3]] [[Media:ME132_Lab2.pdf | Instructions for Lab 2]] [http://robotics.caltech.edu/~jbowkett/me132_lab2.tar.gz Files for Lab 2]

|-
| align=center rowspan=2 | 7
| colspan=5 |

===== Graphs Search (continued), Sensor-Based Motion Planning =====

|-
| 15 Feb (W)
| A-Star & Dijkstra Graph Search Bug Algorithms
| [[Media:Astar.pdf | Notes on A-star]]; [[Media:AstarAnalysis.pdf | Analysis of A-Star]] [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
| [http://robotics.caltech.edu/~jwb/courses/ME132/handouts/LumelskyBug.pdf Lumelsky Bug Algorithm Paper]
| -N/A-

|-
| align=center rowspan=2 | 8
| colspan=5 |

===== Sensor-Based Motion Planning (continued) =====

|-
| 22 Feb (W)
| Tangent Bug Algorithm, Sensorized GVD, D*-Algorithm
| [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
|
| rowspan=1 align=center | [[Media:Homework4.pdf | Homework #4]] [http://robotics.caltech.edu/~jbowkett/me132_lab3.tar.gz Files for HW4/Lab 3]

|-
| align=center rowspan=2 | 9
| colspan=5 |

===== Sensor-Based Motion Planning, Intro to Localization/Mapping =====

|-
| 1 Mar (W)
| D*-Algorithm Intro to Localization and Mapping
| [[Media:DStar_Paper.pdf | D* Paper]] [[Media:DStar_Slides.pdf | Slides on D* Algorithms ]] Lavalle Section 12.3.2
|
| N/A-

|-
| align=center rowspan=2 | 10
| colspan=5 |

===== Intro to Localization/Mapping =====

|-
| 8 Mar (W)
| Odometry (wheeled and Laser scan matching)
| [[Media:LuMilios_Paper.pdf | Lu & Milio Paper on Scan Matching Odometry]]
|
| N/A-

|}

== 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.

ME CS 132 2017

2017-05-25T00:15:48Z

Jbowkett: /* Announcements For ME/CS 132(a,b) */

This is the homepage for ME/CS 132(a,b) (Advanced Robotics: Navigation and Vision) for Winter/Spring 2017.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-1989
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-1989

|-
| '''Teach Asst.'''
| Yoke Peng Leong
| Annenberg
| TBD
| [mailto:ypleong@caltech.edu ypleong at caltech dot edu]
| 626-395-????

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:''' Based on a vote in the first organizing class, for the near future ME/CS 132(b) we meet at these times:
* '''Monday:''' 10:00-11:00 am - 115 Gates-Thomas
* '''Wednesday:''' 2:00-3:00 pm. - 384 Firestone
* '''Friday:''' 3:00-4:00 pm. - 384 Firestone

'''Note:''' As the course enrollment firms up, we will vote one more time to find the most convenient time.

== Announcements For ME/CS 132(a,b) ==
* '''05/15/17:''' Bookings for hardware to use in the final project can be made [https://teamup.com/ks6zum7yvnwp2tfvxz here], with descriptions on how to bring up the [http://developer.parrot.com/docs/slamdunk/#overview Parrot SLAM Dunk] and
* '''05/12/17:''' The class lecture is '''CANCELLED''' today. Class will resume on Monday as scheduled
* '''05/10/17:''' The [[Media:FinalProjectGuidelines2017.pdf | Final Project Guidelines]] are available.
* '''05/01/17:''' Demo times for Lab 3 are available [https://doodle.com/poll/3h2n8xes4gx925cf here]
* '''04/26/17:''' '''CLASS IS CANCELLED TODAY'''. We will have the regularly scheduled class on Friday.
* '''04/19/17:''' Lab 1b is available below, with demo times available [https://doodle.com/poll/k2cazrchru88yp2c here]
* '''04/10/17:''' Lab 1a is available below, with demo times available [https://doodle.com/poll/c88ht4by4sxdkctq here]
* '''03/15/17:''' The [[Media:FinalExam.pdf | Final Exam]] is available. Directions are on the front page.
* '''03/01/17:''' Homework 4 (last homework) deadline pushed to Friday March 10th to allow time for report writing after second hardware demos conclude Thursday
* '''02/28/17:''' Homework 4 deadline pushed to Wendesday March 8th, scheduling for 1st hardware demo sent in email
* '''02/22/17:''' [[Media:MECS132_FinalProject2017.pdf | Final Project Guidelines]] are available
* '''02/13/17:''' Office Hours for Homework #3 will be held 6-7 pm on Wed., Feb 15 in 220 SFL, and 4:00-5:30 pm on Thurs., Feb 16 in 231 SFL
* '''02/01/17:''' Office Hours for Homework #2 will be held 7:30-9:00 pm on Thurs., Feb. 1 in 135 Gates-Thomas
* '''01/22/17:''' Office Hours for Hmmeowrk #1 will be held 8-10 pm on Sunday, Jan. 22 in 135 Gates-THomas.
* '''01/05/17:''' The meeting time and place have been set for the class lectures.
* '''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 [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books 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 Lecture Schedule for ME/CS 132(b) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
===== Odometry and Localization =====

|-
| 3 Apr. (Mon.)
| Class Overview & Mechanics 
| [[Media:ME_CS_132b_CourseOverview.pdf | ME/CS 132(b) Course Overview]]
|
| rowspan=3 align=center | -No Homework-

|-
| 5 Apr. (Wed.)
| Review of Wheel Odometry and Intro to Inertial Navigation
| [[Media:DiffDriveOdometry.pdf | Odometry for a Planar Differential Drive Vehicle]] [[Media:InertialNavigation.pdf | Slides on Inertial Navigation]]
|

|-
| 7 Apr. (Fri.)
| Inertial Navigation: Review of Spherical Kinematics
|
|

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== Inertial Navigation (continued) =====

|-
| 10 Apr. (M)
| Inertial Navigation: Rigid Body Velocities and Orientation Estimation
|
|
| rowspan=3 align=center | [[Media:132b_2017_lab1a.pdf | Lab 1a]]

|-
| 12 Apr. (W)
| Inertial Navigation: Position Estimation and Euler Angles
| [[Media:InertialNavigationNotes.pdf | Notes on The Kinematics of Inertial Navigation]]
|

|-
| 14 Apr. (F)
| Review of Kalman Filters
| Choset et. al, Chapter 8
|

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Localization & Estimation =====

|-
| 17 Apr. (M)
| Euler Angles & Intro to Localization
|
|
| rowspan=3 align=center | [[Media:132b_2017_lab1b.pdf | Lab 1b]]

|-
| 19 Apr. (W)
| Kalman Filters with no noise or disturbance
|
|

|-
| 21 Apr. (F)
| Kalman Filters (continued)
|
|

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Localization & Estimation =====

|-
| 24 Apr. (M)
| Range and Bearing Localization
|
|
| rowspan=3 align=center | [[Media:132b_2017_lab3.pdf | Lab 3]]

|-
| 26 Apr. (W)
| Class Cancelled
|
|

|-
| 28 Apr. (F)
| Intro to SLAM (Simultaneous Localization and Mapping)
| [[Media:SLAM1.pdf | Tutorial Paper on SLAM 1]]; [[Media:SLAM2.pdf | Tutorial Paper on SLAM 2]]
| [[Media:PastPresentFutureSLAM.pdf | Recent Survey paper on SLAM]]

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== SLAM (continued) =====

|-
| 1 May (M)
| Intro to EKF SLAM
|
| [[Media:SLAM_Solution.pdf | Paper on EKF SLAM]]
| rowspan=3 align=center | -N/A-

|-
| 3 May (W)
| EKF SLAM (continued) Scan Matching
| [[Media:SLAMnotes.pdf | Notes on Feature-Based EKF SLAM]]
|

|-
| 5 May (F)
| SCAN matching and SLAM
| [[Media:LuMilios_Paper.pdf | Lu & Milio Paper on Scan Matching Odometry]]
| [[Media:SCKF.pdf | Stochastic Cloning for Relative State Measurements]] [http://wiki.ros.org/laser_scan_matcher ROS Scan Matching Package]; [https://www.mathworks.com/help/robotics/ref/matchscans.html Matlab ScanMatch Function]; [http://wiki.ros.org/laser_scan_matcher ROS ScanMatching Package]

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Visual Odometry and SLAM =====

|-
| 8 May (M)
| Visual Odometry (continued) Final Project Discussion
| [[Media:VisualOdometryNotes.pdf | Notes on Visual Odometry]]
|
| rowspan=3 align=center | -N/A-

|-
| 10 May (W)
| Scan Matching, RGB-D cameras Final Project Discussion
|
| [[Media:KinectIntro.pdf | Intro to the Kinect 1]] [[Media:Kinect_StructureVsTOF.pdf | Structured Vs. Time of Flight Kinect]]

|-
| 12 May (F)
| RGB-D cameras continued
|
|

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Visual Odometry and SLAM =====

|-
| 15 May (M)
| Stereo Vision
| [[Media:StereoVisionSummary.pdf | Slides on Stereo Vision]]
|
| rowspan=3 align=center | -N/A-

|-
| 17 May (W)
| Discussion on Probabilistic Planning
|
|

|-
| 19 May (F)
| No Class
|
|

|}

== Course Lecture Schedule for ME/CS 132(a) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=3 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====

|-
| 4 Jan (Wed.)
| Class Overview & Mechanics The basic motion planning problem
| [[Media:ME_CS_132_CourseOverview.pdf | Course Overview]]
| [http://msl.cs.uiuc.edu/planning/ch1.pdf Chapter 1 of Lavalle]
| rowspan=2 align=center | -No Homework-

|-
| 6 Jan (Fri.)
| Review of Motion Planning Problems and Issues
|
|

|-
| align=center rowspan=3 | 2
| colspan=5 |
===== Intro to C-space and the Basic Motion Planning Problem =====

|-
| 11 Jan (W)
| Configuration Space (C-space) Review of Planar Rigid Body Kinematics
| Lavalle 4.2.1; Lavalle Chapter 3.2.2 (pages 94-97) [[Media: CObstacleNotes.pdf | Notes on C-obstacles]]; [[Media:StarAlgorithm.pdf | The Star Algorithm]];
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23 Lavalle Chapter 3.1
| rowspan=2 align=center | [[Media:ME_CS_132_2016_Homework1.pdf | Homework 1]], [[Media:ME_CS_132_2016_Solution1.pdf | Solution 1]]

|-
| 13 Jan (F)
| Configuration-Space Obstacles
| Lavalle Chapter 4.3 [[Media:CObstacle_Param.pdf | Notes on Parametrized C-obstacles]]
| [[Media:EllipseCObstacle.pdf | Picture of C-Obstacle]]; [https://www.youtube.com/watch?v=SBFwgR4K1Gk C-space Visualization Video];[http://demonstrations.wolfram.com/RobotMotionWithObstacles/ Mathematica Demo of Manipulator C-Obstacles];

|-
| align=center rowspan=2 | 3
| colspan=5 |

===== C-obstacles and the Classical Motion Planning Algorithms =====

|-
| 18 Jan (W)
| Computing C--space obstacles Review of Classical Motion Planning Algorithms The Road Map
| Lavalle 4.3 (pages 155-167) Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 4
| colspan=5 |
===== Roadmap Motion Planning Algorithms =====

|-
| 25 Jan (W)
| The Road Map (continued) Intro to Potential Field Methods
| Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | [[Media:Homework2.pdf | Homework #2]] [[Media:ME132_VM_Setup.pdf | Instructions for OMPL and ROS Virtual Machine Setup]]

|-
| align=center rowspan=2 | 5
| colspan=5 |

===== Potential Field and Cellular Decomposition Algorithms =====

|-
| 1 Feb (W)
| Potential Fields continued Cellular Decomposition Methods
| Lavalle 6.3 (Cellular Decompositions)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 6
| colspan=5 |

===== Sampling Based Methods and Graphs Search Algorithms =====

|-
| 8 Feb (W)
| Sampling Based Planning Methods Brief Tutorial on Graph Searching
| Lavalle, Sections 5.2-5.5 (Samplinlg Based Methods) Lavalle, Section 2.1 and 2.2 [[Media:Astar.pdf | Notes on A-star]]
|
| rowspan=1 align=center | [[Media:Homework3.pdf | Homework #3]] [[Media:ME132_Lab2.pdf | Instructions for Lab 2]] [http://robotics.caltech.edu/~jbowkett/me132_lab2.tar.gz Files for Lab 2]

|-
| align=center rowspan=2 | 7
| colspan=5 |

===== Graphs Search (continued), Sensor-Based Motion Planning =====

|-
| 15 Feb (W)
| A-Star & Dijkstra Graph Search Bug Algorithms
| [[Media:Astar.pdf | Notes on A-star]]; [[Media:AstarAnalysis.pdf | Analysis of A-Star]] [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
| [http://robotics.caltech.edu/~jwb/courses/ME132/handouts/LumelskyBug.pdf Lumelsky Bug Algorithm Paper]
| -N/A-

|-
| align=center rowspan=2 | 8
| colspan=5 |

===== Sensor-Based Motion Planning (continued) =====

|-
| 22 Feb (W)
| Tangent Bug Algorithm, Sensorized GVD, D*-Algorithm
| [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
|
| rowspan=1 align=center | [[Media:Homework4.pdf | Homework #4]] [http://robotics.caltech.edu/~jbowkett/me132_lab3.tar.gz Files for HW4/Lab 3]

|-
| align=center rowspan=2 | 9
| colspan=5 |

===== Sensor-Based Motion Planning, Intro to Localization/Mapping =====

|-
| 1 Mar (W)
| D*-Algorithm Intro to Localization and Mapping
| [[Media:DStar_Paper.pdf | D* Paper]] [[Media:DStar_Slides.pdf | Slides on D* Algorithms ]] Lavalle Section 12.3.2
|
| N/A-

|-
| align=center rowspan=2 | 10
| colspan=5 |

===== Intro to Localization/Mapping =====

|-
| 8 Mar (W)
| Odometry (wheeled and Laser scan matching)
| [[Media:LuMilios_Paper.pdf | Lu & Milio Paper on Scan Matching Odometry]]
|
| N/A-

|}

== 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.

ME CS 132 2017

2017-05-23T23:35:19Z

Jbowkett: /* Announcements For ME/CS 132(a,b) */

This is the homepage for ME/CS 132(a,b) (Advanced Robotics: Navigation and Vision) for Winter/Spring 2017.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-1989
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-1989

|-
| '''Teach Asst.'''
| Yoke Peng Leong
| Annenberg
| TBD
| [mailto:ypleong@caltech.edu ypleong at caltech dot edu]
| 626-395-????

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:''' Based on a vote in the first organizing class, for the near future ME/CS 132(b) we meet at these times:
* '''Monday:''' 10:00-11:00 am - 115 Gates-Thomas
* '''Wednesday:''' 2:00-3:00 pm. - 384 Firestone
* '''Friday:''' 3:00-4:00 pm. - 384 Firestone

'''Note:''' As the course enrollment firms up, we will vote one more time to find the most convenient time.

== Announcements For ME/CS 132(a,b) ==
* '''05/15/17:''' Bookings for hardware to use in the final project can be made [https://teamup.com/ks6zum7yvnwp2tfvxz here]
* '''05/12/17:''' The class lecture is '''CANCELLED''' today. Class will resume on Monday as scheduled
* '''05/10/17:''' The [[Media:FinalProjectGuidelines2017.pdf | Final Project Guidelines]] are available.
* '''05/01/17:''' Demo times for Lab 3 are available [https://doodle.com/poll/3h2n8xes4gx925cf here]
* '''04/26/17:''' '''CLASS IS CANCELLED TODAY'''. We will have the regularly scheduled class on Friday.
* '''04/19/17:''' Lab 1b is available below, with demo times available [https://doodle.com/poll/k2cazrchru88yp2c here]
* '''04/10/17:''' Lab 1a is available below, with demo times available [https://doodle.com/poll/c88ht4by4sxdkctq here]
* '''03/15/17:''' The [[Media:FinalExam.pdf | Final Exam]] is available. Directions are on the front page.
* '''03/01/17:''' Homework 4 (last homework) deadline pushed to Friday March 10th to allow time for report writing after second hardware demos conclude Thursday
* '''02/28/17:''' Homework 4 deadline pushed to Wendesday March 8th, scheduling for 1st hardware demo sent in email
* '''02/22/17:''' [[Media:MECS132_FinalProject2017.pdf | Final Project Guidelines]] are available
* '''02/13/17:''' Office Hours for Homework #3 will be held 6-7 pm on Wed., Feb 15 in 220 SFL, and 4:00-5:30 pm on Thurs., Feb 16 in 231 SFL
* '''02/01/17:''' Office Hours for Homework #2 will be held 7:30-9:00 pm on Thurs., Feb. 1 in 135 Gates-Thomas
* '''01/22/17:''' Office Hours for Hmmeowrk #1 will be held 8-10 pm on Sunday, Jan. 22 in 135 Gates-THomas.
* '''01/05/17:''' The meeting time and place have been set for the class lectures.
* '''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 [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books 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 Lecture Schedule for ME/CS 132(b) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
===== Odometry and Localization =====

|-
| 3 Apr. (Mon.)
| Class Overview & Mechanics 
| [[Media:ME_CS_132b_CourseOverview.pdf | ME/CS 132(b) Course Overview]]
|
| rowspan=3 align=center | -No Homework-

|-
| 5 Apr. (Wed.)
| Review of Wheel Odometry and Intro to Inertial Navigation
| [[Media:DiffDriveOdometry.pdf | Odometry for a Planar Differential Drive Vehicle]] [[Media:InertialNavigation.pdf | Slides on Inertial Navigation]]
|

|-
| 7 Apr. (Fri.)
| Inertial Navigation: Review of Spherical Kinematics
|
|

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== Inertial Navigation (continued) =====

|-
| 10 Apr. (M)
| Inertial Navigation: Rigid Body Velocities and Orientation Estimation
|
|
| rowspan=3 align=center | [[Media:132b_2017_lab1a.pdf | Lab 1a]]

|-
| 12 Apr. (W)
| Inertial Navigation: Position Estimation and Euler Angles
| [[Media:InertialNavigationNotes.pdf | Notes on The Kinematics of Inertial Navigation]]
|

|-
| 14 Apr. (F)
| Review of Kalman Filters
| Choset et. al, Chapter 8
|

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Localization & Estimation =====

|-
| 17 Apr. (M)
| Euler Angles & Intro to Localization
|
|
| rowspan=3 align=center | [[Media:132b_2017_lab1b.pdf | Lab 1b]]

|-
| 19 Apr. (W)
| Kalman Filters with no noise or disturbance
|
|

|-
| 21 Apr. (F)
| Kalman Filters (continued)
|
|

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Localization & Estimation =====

|-
| 24 Apr. (M)
| Range and Bearing Localization
|
|
| rowspan=3 align=center | [[Media:132b_2017_lab3.pdf | Lab 3]]

|-
| 26 Apr. (W)
| Class Cancelled
|
|

|-
| 28 Apr. (F)
| Intro to SLAM (Simultaneous Localization and Mapping)
| [[Media:SLAM1.pdf | Tutorial Paper on SLAM 1]]; [[Media:SLAM2.pdf | Tutorial Paper on SLAM 2]]
| [[Media:PastPresentFutureSLAM.pdf | Recent Survey paper on SLAM]]

|-
| align=center rowspan=4 | 5
| colspan=5 |

===== SLAM (continued) =====

|-
| 1 May (M)
| Intro to EKF SLAM
|
| [[Media:SLAM_Solution.pdf | Paper on EKF SLAM]]
| rowspan=3 align=center | -N/A-

|-
| 3 May (W)
| EKF SLAM (continued) Scan Matching
| [[Media:SLAMnotes.pdf | Notes on Feature-Based EKF SLAM]]
|

|-
| 5 May (F)
| SCAN matching and SLAM
| [[Media:LuMilios_Paper.pdf | Lu & Milio Paper on Scan Matching Odometry]]
| [[Media:SCKF.pdf | Stochastic Cloning for Relative State Measurements]] [http://wiki.ros.org/laser_scan_matcher ROS Scan Matching Package]; [https://www.mathworks.com/help/robotics/ref/matchscans.html Matlab ScanMatch Function]; [http://wiki.ros.org/laser_scan_matcher ROS ScanMatching Package]

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Visual Odometry and SLAM =====

|-
| 8 May (M)
| Visual Odometry (continued) Final Project Discussion
| [[Media:VisualOdometryNotes.pdf | Notes on Visual Odometry]]
|
| rowspan=3 align=center | -N/A-

|-
| 10 May (W)
| Scan Matching, RGB-D cameras Final Project Discussion
|
| [[Media:KinectIntro.pdf | Intro to the Kinect 1]] [[Media:Kinect_StructureVsTOF.pdf | Structured Vs. Time of Flight Kinect]]

|-
| 12 May (F)
| RGB-D cameras continued
|
|

|-
| align=center rowspan=4 | 6
| colspan=5 |

===== Visual Odometry and SLAM =====

|-
| 15 May (M)
| Stereo Vision
| [[Media:StereoVisionSummary.pdf | Slides on Stereo Vision]]
|
| rowspan=3 align=center | -N/A-

|-
| 17 May (W)
| Discussion on Probabilistic Planning
|
|

|-
| 19 May (F)
| No Class
|
|

|}

== Course Lecture Schedule for ME/CS 132(a) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=3 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====

|-
| 4 Jan (Wed.)
| Class Overview & Mechanics The basic motion planning problem
| [[Media:ME_CS_132_CourseOverview.pdf | Course Overview]]
| [http://msl.cs.uiuc.edu/planning/ch1.pdf Chapter 1 of Lavalle]
| rowspan=2 align=center | -No Homework-

|-
| 6 Jan (Fri.)
| Review of Motion Planning Problems and Issues
|
|

|-
| align=center rowspan=3 | 2
| colspan=5 |
===== Intro to C-space and the Basic Motion Planning Problem =====

|-
| 11 Jan (W)
| Configuration Space (C-space) Review of Planar Rigid Body Kinematics
| Lavalle 4.2.1; Lavalle Chapter 3.2.2 (pages 94-97) [[Media: CObstacleNotes.pdf | Notes on C-obstacles]]; [[Media:StarAlgorithm.pdf | The Star Algorithm]];
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23 Lavalle Chapter 3.1
| rowspan=2 align=center | [[Media:ME_CS_132_2016_Homework1.pdf | Homework 1]], [[Media:ME_CS_132_2016_Solution1.pdf | Solution 1]]

|-
| 13 Jan (F)
| Configuration-Space Obstacles
| Lavalle Chapter 4.3 [[Media:CObstacle_Param.pdf | Notes on Parametrized C-obstacles]]
| [[Media:EllipseCObstacle.pdf | Picture of C-Obstacle]]; [https://www.youtube.com/watch?v=SBFwgR4K1Gk C-space Visualization Video];[http://demonstrations.wolfram.com/RobotMotionWithObstacles/ Mathematica Demo of Manipulator C-Obstacles];

|-
| align=center rowspan=2 | 3
| colspan=5 |

===== C-obstacles and the Classical Motion Planning Algorithms =====

|-
| 18 Jan (W)
| Computing C--space obstacles Review of Classical Motion Planning Algorithms The Road Map
| Lavalle 4.3 (pages 155-167) Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 4
| colspan=5 |
===== Roadmap Motion Planning Algorithms =====

|-
| 25 Jan (W)
| The Road Map (continued) Intro to Potential Field Methods
| Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | [[Media:Homework2.pdf | Homework #2]] [[Media:ME132_VM_Setup.pdf | Instructions for OMPL and ROS Virtual Machine Setup]]

|-
| align=center rowspan=2 | 5
| colspan=5 |

===== Potential Field and Cellular Decomposition Algorithms =====

|-
| 1 Feb (W)
| Potential Fields continued Cellular Decomposition Methods
| Lavalle 6.3 (Cellular Decompositions)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 6
| colspan=5 |

===== Sampling Based Methods and Graphs Search Algorithms =====

|-
| 8 Feb (W)
| Sampling Based Planning Methods Brief Tutorial on Graph Searching
| Lavalle, Sections 5.2-5.5 (Samplinlg Based Methods) Lavalle, Section 2.1 and 2.2 [[Media:Astar.pdf | Notes on A-star]]
|
| rowspan=1 align=center | [[Media:Homework3.pdf | Homework #3]] [[Media:ME132_Lab2.pdf | Instructions for Lab 2]] [http://robotics.caltech.edu/~jbowkett/me132_lab2.tar.gz Files for Lab 2]

|-
| align=center rowspan=2 | 7
| colspan=5 |

===== Graphs Search (continued), Sensor-Based Motion Planning =====

|-
| 15 Feb (W)
| A-Star & Dijkstra Graph Search Bug Algorithms
| [[Media:Astar.pdf | Notes on A-star]]; [[Media:AstarAnalysis.pdf | Analysis of A-Star]] [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
| [http://robotics.caltech.edu/~jwb/courses/ME132/handouts/LumelskyBug.pdf Lumelsky Bug Algorithm Paper]
| -N/A-

|-
| align=center rowspan=2 | 8
| colspan=5 |

===== Sensor-Based Motion Planning (continued) =====

|-
| 22 Feb (W)
| Tangent Bug Algorithm, Sensorized GVD, D*-Algorithm
| [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
|
| rowspan=1 align=center | [[Media:Homework4.pdf | Homework #4]] [http://robotics.caltech.edu/~jbowkett/me132_lab3.tar.gz Files for HW4/Lab 3]

|-
| align=center rowspan=2 | 9
| colspan=5 |

===== Sensor-Based Motion Planning, Intro to Localization/Mapping =====

|-
| 1 Mar (W)
| D*-Algorithm Intro to Localization and Mapping
| [[Media:DStar_Paper.pdf | D* Paper]] [[Media:DStar_Slides.pdf | Slides on D* Algorithms ]] Lavalle Section 12.3.2
|
| N/A-

|-
| align=center rowspan=2 | 10
| colspan=5 |

===== Intro to Localization/Mapping =====

|-
| 8 Mar (W)
| Odometry (wheeled and Laser scan matching)
| [[Media:LuMilios_Paper.pdf | Lu & Milio Paper on Scan Matching Odometry]]
|
| N/A-

|}

== 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.

File:132b 2017 lab3.pdf

2017-05-08T19:40:52Z

Jbowkett: Jbowkett uploaded a new version of File:132b 2017 lab3.pdf

File:132b 2017 lab3.pdf

2017-05-07T22:30:18Z

Jbowkett: Jbowkett uploaded a new version of File:132b 2017 lab3.pdf

File:132b 2017 lab3.pdf

2017-05-07T22:29:32Z

Jbowkett: Jbowkett uploaded a new version of File:132b 2017 lab3.pdf

File:132b 2017 lab3.pdf

2017-05-07T21:58:39Z

Jbowkett:

ME CS 132 2017

2017-05-01T20:24:49Z

Jbowkett: /* Announcements For ME/CS 132(a,b) */

This is the homepage for ME/CS 132(a,b) (Advanced Robotics: Navigation and Vision) for Winter/Spring 2017.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-1989
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-1989

|-
| '''Teach Asst.'''
| Yoke Peng Leong
| Annenberg
| TBD
| [mailto:ypleong@caltech.edu ypleong at caltech dot edu]
| 626-395-????

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:''' Based on a vote in the first organizing class, for the near future ME/CS 132(b) we meet at these times:
* '''Monday:''' 10:00-11:00 am - 115 Gates-Thomas
* '''Wednesday:''' 2:00-3:00 pm. - 384 Firestone
* '''Friday:''' 3:00-4:00 pm. - 384 Firestone

'''Note:''' As the course enrollment firms up, we will vote one more time to find the most convenient time.

== Announcements For ME/CS 132(a,b) ==
* '''05/01/17:''' Demo times for Lab 3 are available [https://doodle.com/poll/3h2n8xes4gx925cf here]
* '''04/26/17:''' '''CLASS IS CANCELLED TODAY'''. We will have the regularly scheduled class on Friday.
* '''04/19/17:''' Lab 1b is available below, with demo times available [https://doodle.com/poll/k2cazrchru88yp2c here]
* '''04/10/17:''' Lab 1a is available below, with demo times available [https://doodle.com/poll/c88ht4by4sxdkctq here]
* '''03/15/17:''' The [[Media:FinalExam.pdf | Final Exam]] is available. Directions are on the front page.
* '''03/01/17:''' Homework 4 (last homework) deadline pushed to Friday March 10th to allow time for report writing after second hardware demos conclude Thursday
* '''02/28/17:''' Homework 4 deadline pushed to Wendesday March 8th, scheduling for 1st hardware demo sent in email
* '''02/22/17:''' [[Media:MECS132_FinalProject2017.pdf | Final Project Guidelines]] are available
* '''02/13/17:''' Office Hours for Homework #3 will be held 6-7 pm on Wed., Feb 15 in 220 SFL, and 4:00-5:30 pm on Thurs., Feb 16 in 231 SFL
* '''02/01/17:''' Office Hours for Homework #2 will be held 7:30-9:00 pm on Thurs., Feb. 1 in 135 Gates-Thomas
* '''01/22/17:''' Office Hours for Hmmeowrk #1 will be held 8-10 pm on Sunday, Jan. 22 in 135 Gates-THomas.
* '''01/05/17:''' The meeting time and place have been set for the class lectures.
* '''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 [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books 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 Lecture Schedule for ME/CS 132(b) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
===== Odometry and Localization =====

|-
| 3 Apr. (Mon.)
| Class Overview & Mechanics 
| [[Media:ME_CS_132b_CourseOverview.pdf | ME/CS 132(b) Course Overview]]
|
| rowspan=3 align=center | -No Homework-

|-
| 5 Apr. (Wed.)
| Review of Wheel Odometry and Intro to Inertial Navigation
| [[Media:DiffDriveOdometry.pdf | Odometry for a Planar Differential Drive Vehicle]] [[Media:InertialNavigation.pdf | Slides on Inertial Navigation]]
|

|-
| 7 Apr. (Fri.)
| Inertial Navigation: Review of Spherical Kinematics
|
|

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== Inertial Navigation (continued) =====

|-
| 10 Apr. (M)
| Inertial Navigation: Rigid Body Velocities and Orientation Estimation
|
|
| rowspan=3 align=center | [[Media:132b_2017_lab1a.pdf | Lab 1a]]

|-
| 12 Apr. (W)
| Inertial Navigation: Position Estimation and Euler Angles
| [[Media:InertialNavigationNotes.pdf | Notes on The Kinematics of Inertial Navigation]]
|

|-
| 14 Apr. (F)
| Review of Kalman Filters
| Choset et. al, Chapter 8
|

|-
| align=center rowspan=4 | 3
| colspan=5 |

===== Localization & Estimation =====

|-
| 17 Apr. (M)
| Euler Angles & Intro to Localization
|
|
| rowspan=3 align=center | [[Media:132b_2017_lab1b.pdf | Lab 1b]]

|-
| 19 Apr. (W)
| Kalman Filters with no noise or disturbance
|
|

|-
| 21 Apr. (F)
| Kalman Filters (continued)
|
|

|-
| align=center rowspan=4 | 4
| colspan=5 |

===== Localization & Estimation =====

|-
| 24 Apr. (M)
| Range and Bearing Localization
|
|
| rowspan=3 align=center | [[Media:132b_2017_lab3.pdf | Lab 3]]

|-
| 26 Apr. (W)
| Class Cancelled
|
|

|-
| 28 Apr. (F)
| SLAM (Simultaneous Localization and Mapping)
| [[Media:SLAM1.pdf | Tutorial Paper on SLAM 1]]; [[Media:SLAM2.pdf | Tutorial Paper on SLAM 2]]
| [[Media:PastPresentFutureSLAM.pdf | Recent Survey paper on SLAM]]

|}

== Course Lecture Schedule for ME/CS 132(a) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=3 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====

|-
| 4 Jan (Wed.)
| Class Overview & Mechanics The basic motion planning problem
| [[Media:ME_CS_132_CourseOverview.pdf | Course Overview]]
| [http://msl.cs.uiuc.edu/planning/ch1.pdf Chapter 1 of Lavalle]
| rowspan=2 align=center | -No Homework-

|-
| 6 Jan (Fri.)
| Review of Motion Planning Problems and Issues
|
|

|-
| align=center rowspan=3 | 2
| colspan=5 |
===== Intro to C-space and the Basic Motion Planning Problem =====

|-
| 11 Jan (W)
| Configuration Space (C-space) Review of Planar Rigid Body Kinematics
| Lavalle 4.2.1; Lavalle Chapter 3.2.2 (pages 94-97) [[Media: CObstacleNotes.pdf | Notes on C-obstacles]]; [[Media:StarAlgorithm.pdf | The Star Algorithm]];
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23 Lavalle Chapter 3.1
| rowspan=2 align=center | [[Media:ME_CS_132_2016_Homework1.pdf | Homework 1]], [[Media:ME_CS_132_2016_Solution1.pdf | Solution 1]]

|-
| 13 Jan (F)
| Configuration-Space Obstacles
| Lavalle Chapter 4.3 [[Media:CObstacle_Param.pdf | Notes on Parametrized C-obstacles]]
| [[Media:EllipseCObstacle.pdf | Picture of C-Obstacle]]; [https://www.youtube.com/watch?v=SBFwgR4K1Gk C-space Visualization Video];[http://demonstrations.wolfram.com/RobotMotionWithObstacles/ Mathematica Demo of Manipulator C-Obstacles];

|-
| align=center rowspan=2 | 3
| colspan=5 |

===== C-obstacles and the Classical Motion Planning Algorithms =====

|-
| 18 Jan (W)
| Computing C--space obstacles Review of Classical Motion Planning Algorithms The Road Map
| Lavalle 4.3 (pages 155-167) Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 4
| colspan=5 |
===== Roadmap Motion Planning Algorithms =====

|-
| 25 Jan (W)
| The Road Map (continued) Intro to Potential Field Methods
| Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | [[Media:Homework2.pdf | Homework #2]] [[Media:ME132_VM_Setup.pdf | Instructions for OMPL and ROS Virtual Machine Setup]]

|-
| align=center rowspan=2 | 5
| colspan=5 |

===== Potential Field and Cellular Decomposition Algorithms =====

|-
| 1 Feb (W)
| Potential Fields continued Cellular Decomposition Methods
| Lavalle 6.3 (Cellular Decompositions)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 6
| colspan=5 |

===== Sampling Based Methods and Graphs Search Algorithms =====

|-
| 8 Feb (W)
| Sampling Based Planning Methods Brief Tutorial on Graph Searching
| Lavalle, Sections 5.2-5.5 (Samplinlg Based Methods) Lavalle, Section 2.1 and 2.2 [[Media:Astar.pdf | Notes on A-star]]
|
| rowspan=1 align=center | [[Media:Homework3.pdf | Homework #3]] [[Media:ME132_Lab2.pdf | Instructions for Lab 2]] [http://robotics.caltech.edu/~jbowkett/me132_lab2.tar.gz Files for Lab 2]

|-
| align=center rowspan=2 | 7
| colspan=5 |

===== Graphs Search (continued), Sensor-Based Motion Planning =====

|-
| 15 Feb (W)
| A-Star & Dijkstra Graph Search Bug Algorithms
| [[Media:Astar.pdf | Notes on A-star]]; [[Media:AstarAnalysis.pdf | Analysis of A-Star]] [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
| [http://robotics.caltech.edu/~jwb/courses/ME132/handouts/LumelskyBug.pdf Lumelsky Bug Algorithm Paper]
| -N/A-

|-
| align=center rowspan=2 | 8
| colspan=5 |

===== Sensor-Based Motion Planning (continued) =====

|-
| 22 Feb (W)
| Tangent Bug Algorithm, Sensorized GVD, D*-Algorithm
| [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
|
| rowspan=1 align=center | [[Media:Homework4.pdf | Homework #4]] [http://robotics.caltech.edu/~jbowkett/me132_lab3.tar.gz Files for HW4/Lab 3]

|-
| align=center rowspan=2 | 9
| colspan=5 |

===== Sensor-Based Motion Planning, Intro to Localization/Mapping =====

|-
| 1 Mar (W)
| D*-Algorithm Intro to Localization and Mapping
| [[Media:DStar_Paper.pdf | D* Paper]] [[Media:DStar_Slides.pdf | Slides on D* Algorithms ]] Lavalle Section 12.3.2
|
| N/A-

|-
| align=center rowspan=2 | 10
| colspan=5 |

===== Intro to Localization/Mapping =====

|-
| 8 Mar (W)
| Odometry (wheeled and Laser scan matching)
| [[Media:LuMilios_Paper.pdf | Lu & Milio Paper on Scan Matching Odometry]]
|
| N/A-

|}

== 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.

File:132b 2017 lab1b.pdf

2017-04-28T19:21:20Z

Jbowkett: Jbowkett uploaded a new version of File:132b 2017 lab1b.pdf

ME CS 132 2017

2017-04-22T22:24:43Z

Jbowkett: /* Course Staff, Hours, Location */

This is the homepage for ME/CS 132(a,b) (Advanced Robotics: Navigation and Vision) for Winter/Spring 2017.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-1989
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-1989

|-
| '''Teach Asst.'''
| Yoke Peng Leong
| Annenberg
| TBD
| [mailto:ypleong@caltech.edu ypleong at caltech dot edu]
| 626-395-????

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:''' Based on a vote in the first organizing class, for the near future ME/CS 132(b) we meet at these times:
* '''Monday:''' 10:00-11:00 am - 115 Gates-Thomas
* '''Wednesday:''' 2:00-3:00 pm. - 384 Firestone
* '''Friday:''' 3:00-4:00 pm. - 384 Firestone

'''Note:''' As the course enrollment firms up, we will vote one more time to find the most convenient time.

== Announcements For ME/CS 132(a,b) ==
* '''04/19/17:''' Lab 1b is available below, with demo times available [https://doodle.com/poll/k2cazrchru88yp2c here]
* '''04/10/17:''' Lab 1a is available below, with demo times available [https://doodle.com/poll/c88ht4by4sxdkctq here]
* '''03/15/17:''' The [[Media:FinalExam.pdf | Final Exam]] is available. Directions are on the front page.
* '''03/01/17:''' Homework 4 (last homework) deadline pushed to Friday March 10th to allow time for report writing after second hardware demos conclude Thursday
* '''02/28/17:''' Homework 4 deadline pushed to Wendesday March 8th, scheduling for 1st hardware demo sent in email
* '''02/22/17:''' [[Media:MECS132_FinalProject2017.pdf | Final Project Guidelines]] are available
* '''02/13/17:''' Office Hours for Homework #3 will be held 6-7 pm on Wed., Feb 15 in 220 SFL, and 4:00-5:30 pm on Thurs., Feb 16 in 231 SFL
* '''02/01/17:''' Office Hours for Homework #2 will be held 7:30-9:00 pm on Thurs., Feb. 1 in 135 Gates-Thomas
* '''01/22/17:''' Office Hours for Hmmeowrk #1 will be held 8-10 pm on Sunday, Jan. 22 in 135 Gates-THomas.
* '''01/05/17:''' The meeting time and place have been set for the class lectures.
* '''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 [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books 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 Lecture Schedule for ME/CS 132(b) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
===== Odometry and Localization =====

|-
| 3 Apr. (Mon.)
| Class Overview & Mechanics 
| [[Media:ME_CS_132b_CourseOverview.pdf | ME/CS 132(b) Course Overview]]
|
| rowspan=3 align=center | -No Homework-

|-
| 5 Apr. (Wed.)
| Review of Wheel Odometry and Intro to Inertial Navigation
| [[Media:DiffDriveOdometry.pdf | Odometry for a Planar Differential Drive Vehicle]] [[Media:InertialNavigation.pdf | Slides on Inertial Navigation]]
|

|-
| 7 Apr. (Fri.)
| Inertial Navigation: Review of Spherical Kinematics
|
|

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== Inertial Navigation (continued) =====

|-
| 10 Apr. (M)
| Inertial Navigation: Rigid Body Velocities and Orientation Estimation
|
|
| rowspan=3 align=center | [[Media:132b_2017_lab1a.pdf | Lab 1a]]

|-
| 12 Apr. (W)
| Inertial Navigation: Position Estimation and Euler Angles
| [[Media:InertialNavigationNotes.pdf | Notes on The Kinematics of Inertial Navigation]]
|

|-
| 14 Apr. (F)
| Review of Kalman Filters
| Choset et. al, Chapter 8
|

|-
| align=center rowspan=4 | 2
| colspan=5 |

===== Localization & Estimation =====

|-
| 17 Apr. (M)
| Euler Angles & Intro to Localization
|
|
| rowspan=3 align=center | [[Media:132b_2017_lab1b.pdf | Lab 1b]]

|-
| 19 Apr. (W)
| Kalman Filters with no noise or disturbance
|
|

|-
| 21 Apr. (F)
| Kalman Filters (continued)
|
|

|}

== Course Lecture Schedule for ME/CS 132(a) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=3 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====

|-
| 4 Jan (Wed.)
| Class Overview & Mechanics The basic motion planning problem
| [[Media:ME_CS_132_CourseOverview.pdf | Course Overview]]
| [http://msl.cs.uiuc.edu/planning/ch1.pdf Chapter 1 of Lavalle]
| rowspan=2 align=center | -No Homework-

|-
| 6 Jan (Fri.)
| Review of Motion Planning Problems and Issues
|
|

|-
| align=center rowspan=3 | 2
| colspan=5 |
===== Intro to C-space and the Basic Motion Planning Problem =====

|-
| 11 Jan (W)
| Configuration Space (C-space) Review of Planar Rigid Body Kinematics
| Lavalle 4.2.1; Lavalle Chapter 3.2.2 (pages 94-97) [[Media: CObstacleNotes.pdf | Notes on C-obstacles]]; [[Media:StarAlgorithm.pdf | The Star Algorithm]];
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23 Lavalle Chapter 3.1
| rowspan=2 align=center | [[Media:ME_CS_132_2016_Homework1.pdf | Homework 1]], [[Media:ME_CS_132_2016_Solution1.pdf | Solution 1]]

|-
| 13 Jan (F)
| Configuration-Space Obstacles
| Lavalle Chapter 4.3 [[Media:CObstacle_Param.pdf | Notes on Parametrized C-obstacles]]
| [[Media:EllipseCObstacle.pdf | Picture of C-Obstacle]]; [https://www.youtube.com/watch?v=SBFwgR4K1Gk C-space Visualization Video];[http://demonstrations.wolfram.com/RobotMotionWithObstacles/ Mathematica Demo of Manipulator C-Obstacles];

|-
| align=center rowspan=2 | 3
| colspan=5 |

===== C-obstacles and the Classical Motion Planning Algorithms =====

|-
| 18 Jan (W)
| Computing C--space obstacles Review of Classical Motion Planning Algorithms The Road Map
| Lavalle 4.3 (pages 155-167) Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 4
| colspan=5 |
===== Roadmap Motion Planning Algorithms =====

|-
| 25 Jan (W)
| The Road Map (continued) Intro to Potential Field Methods
| Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | [[Media:Homework2.pdf | Homework #2]] [[Media:ME132_VM_Setup.pdf | Instructions for OMPL and ROS Virtual Machine Setup]]

|-
| align=center rowspan=2 | 5
| colspan=5 |

===== Potential Field and Cellular Decomposition Algorithms =====

|-
| 1 Feb (W)
| Potential Fields continued Cellular Decomposition Methods
| Lavalle 6.3 (Cellular Decompositions)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 6
| colspan=5 |

===== Sampling Based Methods and Graphs Search Algorithms =====

|-
| 8 Feb (W)
| Sampling Based Planning Methods Brief Tutorial on Graph Searching
| Lavalle, Sections 5.2-5.5 (Samplinlg Based Methods) Lavalle, Section 2.1 and 2.2 [[Media:Astar.pdf | Notes on A-star]]
|
| rowspan=1 align=center | [[Media:Homework3.pdf | Homework #3]] [[Media:ME132_Lab2.pdf | Instructions for Lab 2]] [http://robotics.caltech.edu/~jbowkett/me132_lab2.tar.gz Files for Lab 2]

|-
| align=center rowspan=2 | 7
| colspan=5 |

===== Graphs Search (continued), Sensor-Based Motion Planning =====

|-
| 15 Feb (W)
| A-Star & Dijkstra Graph Search Bug Algorithms
| [[Media:Astar.pdf | Notes on A-star]]; [[Media:AstarAnalysis.pdf | Analysis of A-Star]] [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
| [http://robotics.caltech.edu/~jwb/courses/ME132/handouts/LumelskyBug.pdf Lumelsky Bug Algorithm Paper]
| -N/A-

|-
| align=center rowspan=2 | 8
| colspan=5 |

===== Sensor-Based Motion Planning (continued) =====

|-
| 22 Feb (W)
| Tangent Bug Algorithm, Sensorized GVD, D*-Algorithm
| [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
|
| rowspan=1 align=center | [[Media:Homework4.pdf | Homework #4]] [http://robotics.caltech.edu/~jbowkett/me132_lab3.tar.gz Files for HW4/Lab 3]

|-
| align=center rowspan=2 | 9
| colspan=5 |

===== Sensor-Based Motion Planning, Intro to Localization/Mapping =====

|-
| 1 Mar (W)
| D*-Algorithm Intro to Localization and Mapping
| [[Media:DStar_Paper.pdf | D* Paper]] [[Media:DStar_Slides.pdf | Slides on D* Algorithms ]] Lavalle Section 12.3.2
|
| N/A-

|-
| align=center rowspan=2 | 10
| colspan=5 |

===== Intro to Localization/Mapping =====

|-
| 8 Mar (W)
| Odometry (wheeled and Laser scan matching)
| [[Media:LuMilios_Paper.pdf | Lu & Milio Paper on Scan Matching Odometry]]
|
| N/A-

|}

== 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.

File:132b 2017 lab1b.pdf

2017-04-22T00:06:51Z

Jbowkett: Jbowkett uploaded a new version of File:132b 2017 lab1b.pdf

File:132b 2017 lab1b.pdf

2017-04-21T23:31:18Z

Jbowkett: Jbowkett uploaded a new version of File:132b 2017 lab1b.pdf

File:132b 2017 lab1b.pdf

2017-04-20T16:40:25Z

Jbowkett:

Classes

2017-04-12T23:02:35Z

Jbowkett:

File:132b 2017 lab1a.pdf

2017-04-12T23:01:56Z

Jbowkett: Jbowkett uploaded a new version of File:132b 2017 lab1a.pdf

ME CS 132 2017

2017-04-11T15:07:11Z

Jbowkett: /* Announcements For ME/CS 132(a,b) */

This is the homepage for ME/CS 132(a,b) (Advanced Robotics: Navigation and Vision) for Winter/Spring 2017.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-1989
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-1989

|-
| '''Teach Asst.'''
| Yoke Peng Leong
| Annenberg
| TBD
| [mailto:ypleong@caltech.edu ypleong at caltech dot edu]
| 626-395-????

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:''' Based on a vote in the first organizing class, for the near future ME/CS 132(b) we meet at these times:
* '''Monday:''' 10:00-11:00 am
* '''Wednesday:''' 2:00-3:00 pm.
* '''Friday:''' 3:00-4:00 pm.

'''Lecture Location:''' 384 Firestone (for now)

'''Note:''' As the course enrollment firms up, we will vote one more time to find the most convenient time.

== Announcements For ME/CS 132(a,b) ==
* '''04/10/17:''' Lab 1a is available below, with demo times available [https://doodle.com/poll/c88ht4by4sxdkctq here]
* '''03/15/17:''' The [[Media:FinalExam.pdf | Final Exam]] is available. Directions are on the front page.
* '''03/01/17:''' Homework 4 (last homework) deadline pushed to Friday March 10th to allow time for report writing after second hardware demos conclude Thursday
* '''02/28/17:''' Homework 4 deadline pushed to Wendesday March 8th, scheduling for 1st hardware demo sent in email
* '''02/22/17:''' [[Media:MECS132_FinalProject2017.pdf | Final Project Guidelines]] are available
* '''02/13/17:''' Office Hours for Homework #3 will be held 6-7 pm on Wed., Feb 15 in 220 SFL, and 4:00-5:30 pm on Thurs., Feb 16 in 231 SFL
* '''02/01/17:''' Office Hours for Homework #2 will be held 7:30-9:00 pm on Thurs., Feb. 1 in 135 Gates-Thomas
* '''01/22/17:''' Office Hours for Hmmeowrk #1 will be held 8-10 pm on Sunday, Jan. 22 in 135 Gates-THomas.
* '''01/05/17:''' The meeting time and place have been set for the class lectures.
* '''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 [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books 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 Lecture Schedule for ME/CS 132(b) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
===== Odometry and Localization =====

|-
| 3 Apr. (Mon.)
| Class Overview & Mechanics 
| [[Media:ME_CS_132b_CourseOverview.pdf | ME/CS 132(b) Course Overview]]
|
| rowspan=3 align=center | -No Homework-

|-
| 5 Apr. (Wed.)
| Review of Wheel Odometry and Intro to Inertial Navigation
| [[Media:DiffDriveOdometry.pdf | Odometry for a Planar Differential Drive Vehicle]] [[Media:InertialNavigation.pdf | Slides on Inertial Navigation]]
|

|-
| 7 Apr. (Fri.)
| Laser Scan Matching
|
|

|-
| align=center rowspan=2 | 2
| colspan=5 |

===== Odometry and Localization (continued) =====

|-
| 10 Apr. (M)
| Spatial & Body Rotations for Gyroscopes
|
|
| rowspan=1 align=center | [[Media:132b_2017_lab1a.pdf | Lab 1a]]

|}

== Course Lecture Schedule for ME/CS 132(a) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=3 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====

|-
| 4 Jan (Wed.)
| Class Overview & Mechanics The basic motion planning problem
| [[Media:ME_CS_132_CourseOverview.pdf | Course Overview]]
| [http://msl.cs.uiuc.edu/planning/ch1.pdf Chapter 1 of Lavalle]
| rowspan=2 align=center | -No Homework-

|-
| 6 Jan (Fri.)
| Review of Motion Planning Problems and Issues
|
|

|-
| align=center rowspan=3 | 2
| colspan=5 |
===== Intro to C-space and the Basic Motion Planning Problem =====

|-
| 11 Jan (W)
| Configuration Space (C-space) Review of Planar Rigid Body Kinematics
| Lavalle 4.2.1; Lavalle Chapter 3.2.2 (pages 94-97) [[Media: CObstacleNotes.pdf | Notes on C-obstacles]]; [[Media:StarAlgorithm.pdf | The Star Algorithm]];
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23 Lavalle Chapter 3.1
| rowspan=2 align=center | [[Media:ME_CS_132_2016_Homework1.pdf | Homework 1]], [[Media:ME_CS_132_2016_Solution1.pdf | Solution 1]]

|-
| 13 Jan (F)
| Configuration-Space Obstacles
| Lavalle Chapter 4.3 [[Media:CObstacle_Param.pdf | Notes on Parametrized C-obstacles]]
| [[Media:EllipseCObstacle.pdf | Picture of C-Obstacle]]; [https://www.youtube.com/watch?v=SBFwgR4K1Gk C-space Visualization Video];[http://demonstrations.wolfram.com/RobotMotionWithObstacles/ Mathematica Demo of Manipulator C-Obstacles];

|-
| align=center rowspan=2 | 3
| colspan=5 |

===== C-obstacles and the Classical Motion Planning Algorithms =====

|-
| 18 Jan (W)
| Computing C--space obstacles Review of Classical Motion Planning Algorithms The Road Map
| Lavalle 4.3 (pages 155-167) Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 4
| colspan=5 |
===== Roadmap Motion Planning Algorithms =====

|-
| 25 Jan (W)
| The Road Map (continued) Intro to Potential Field Methods
| Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | [[Media:Homework2.pdf | Homework #2]] [[Media:ME132_VM_Setup.pdf | Instructions for OMPL and ROS Virtual Machine Setup]]

|-
| align=center rowspan=2 | 5
| colspan=5 |

===== Potential Field and Cellular Decomposition Algorithms =====

|-
| 1 Feb (W)
| Potential Fields continued Cellular Decomposition Methods
| Lavalle 6.3 (Cellular Decompositions)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 6
| colspan=5 |

===== Sampling Based Methods and Graphs Search Algorithms =====

|-
| 8 Feb (W)
| Sampling Based Planning Methods Brief Tutorial on Graph Searching
| Lavalle, Sections 5.2-5.5 (Samplinlg Based Methods) Lavalle, Section 2.1 and 2.2 [[Media:Astar.pdf | Notes on A-star]]
|
| rowspan=1 align=center | [[Media:Homework3.pdf | Homework #3]] [[Media:ME132_Lab2.pdf | Instructions for Lab 2]] [http://robotics.caltech.edu/~jbowkett/me132_lab2.tar.gz Files for Lab 2]

|-
| align=center rowspan=2 | 7
| colspan=5 |

===== Graphs Search (continued), Sensor-Based Motion Planning =====

|-
| 15 Feb (W)
| A-Star & Dijkstra Graph Search Bug Algorithms
| [[Media:Astar.pdf | Notes on A-star]]; [[Media:AstarAnalysis.pdf | Analysis of A-Star]] [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
| [http://robotics.caltech.edu/~jwb/courses/ME132/handouts/LumelskyBug.pdf Lumelsky Bug Algorithm Paper]
| -N/A-

|-
| align=center rowspan=2 | 8
| colspan=5 |

===== Sensor-Based Motion Planning (continued) =====

|-
| 22 Feb (W)
| Tangent Bug Algorithm, Sensorized GVD, D*-Algorithm
| [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
|
| rowspan=1 align=center | [[Media:Homework4.pdf | Homework #4]] [http://robotics.caltech.edu/~jbowkett/me132_lab3.tar.gz Files for HW4/Lab 3]

|-
| align=center rowspan=2 | 9
| colspan=5 |

===== Sensor-Based Motion Planning, Intro to Localization/Mapping =====

|-
| 1 Mar (W)
| D*-Algorithm Intro to Localization and Mapping
| [[Media:DStar_Paper.pdf | D* Paper]] [[Media:DStar_Slides.pdf | Slides on D* Algorithms ]] Lavalle Section 12.3.2
|
| N/A-

|-
| align=center rowspan=2 | 10
| colspan=5 |

===== Intro to Localization/Mapping =====

|-
| 8 Mar (W)
| Odometry (wheeled and Laser scan matching)
| [[Media:LuMilios_Paper.pdf | Lu & Milio Paper on Scan Matching Odometry]]
|
| N/A-

|}

== 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.

ME CS 132 2017

2017-04-11T15:05:50Z

Jbowkett: /* Announcements For ME/CS 132(a,b) */

This is the homepage for ME/CS 132(a,b) (Advanced Robotics: Navigation and Vision) for Winter/Spring 2017.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-1989
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-1989

|-
| '''Teach Asst.'''
| Yoke Peng Leong
| Annenberg
| TBD
| [mailto:ypleong@caltech.edu ypleong at caltech dot edu]
| 626-395-????

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:''' Based on a vote in the first organizing class, for the near future ME/CS 132(b) we meet at these times:
* '''Monday:''' 10:00-11:00 am
* '''Wednesday:''' 2:00-3:00 pm.
* '''Friday:''' 3:00-4:00 pm.

'''Lecture Location:''' 384 Firestone (for now)

'''Note:''' As the course enrollment firms up, we will vote one more time to find the most convenient time.

== Announcements For ME/CS 132(a,b) ==
* '''04/10/17:''' Lab 1a is available below, with demo times available [https://doodle.com/poll/c88ht4by4sxdkctq | here]
* '''03/15/17:''' The [[Media:FinalExam.pdf | Final Exam]] is available. Directions are on the front page.
* '''03/01/17:''' Homework 4 (last homework) deadline pushed to Friday March 10th to allow time for report writing after second hardware demos conclude Thursday
* '''02/28/17:''' Homework 4 deadline pushed to Wendesday March 8th, scheduling for 1st hardware demo sent in email
* '''02/22/17:''' [[Media:MECS132_FinalProject2017.pdf | Final Project Guidelines]] are available
* '''02/13/17:''' Office Hours for Homework #3 will be held 6-7 pm on Wed., Feb 15 in 220 SFL, and 4:00-5:30 pm on Thurs., Feb 16 in 231 SFL
* '''02/01/17:''' Office Hours for Homework #2 will be held 7:30-9:00 pm on Thurs., Feb. 1 in 135 Gates-Thomas
* '''01/22/17:''' Office Hours for Hmmeowrk #1 will be held 8-10 pm on Sunday, Jan. 22 in 135 Gates-THomas.
* '''01/05/17:''' The meeting time and place have been set for the class lectures.
* '''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 [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books 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 Lecture Schedule for ME/CS 132(b) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
===== Odometry and Localization =====

|-
| 3 Apr. (Mon.)
| Class Overview & Mechanics 
| [[Media:ME_CS_132b_CourseOverview.pdf | ME/CS 132(b) Course Overview]]
|
| rowspan=3 align=center | -No Homework-

|-
| 5 Apr. (Wed.)
| Review of Wheel Odometry and Intro to Inertial Navigation
| [[Media:DiffDriveOdometry.pdf | Odometry for a Planar Differential Drive Vehicle]] [[Media:InertialNavigation.pdf | Slides on Inertial Navigation]]
|

|-
| 7 Apr. (Fri.)
| Laser Scan Matching
|
|

|-
| align=center rowspan=2 | 2
| colspan=5 |

===== Odometry and Localization (continued) =====

|-
| 10 Apr. (M)
| Spatial & Body Rotations for Gyroscopes
|
|
| rowspan=1 align=center | [[Media:132b_2017_lab1a.pdf | Lab 1a]]

|}

== Course Lecture Schedule for ME/CS 132(a) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=3 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====

|-
| 4 Jan (Wed.)
| Class Overview & Mechanics The basic motion planning problem
| [[Media:ME_CS_132_CourseOverview.pdf | Course Overview]]
| [http://msl.cs.uiuc.edu/planning/ch1.pdf Chapter 1 of Lavalle]
| rowspan=2 align=center | -No Homework-

|-
| 6 Jan (Fri.)
| Review of Motion Planning Problems and Issues
|
|

|-
| align=center rowspan=3 | 2
| colspan=5 |
===== Intro to C-space and the Basic Motion Planning Problem =====

|-
| 11 Jan (W)
| Configuration Space (C-space) Review of Planar Rigid Body Kinematics
| Lavalle 4.2.1; Lavalle Chapter 3.2.2 (pages 94-97) [[Media: CObstacleNotes.pdf | Notes on C-obstacles]]; [[Media:StarAlgorithm.pdf | The Star Algorithm]];
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23 Lavalle Chapter 3.1
| rowspan=2 align=center | [[Media:ME_CS_132_2016_Homework1.pdf | Homework 1]], [[Media:ME_CS_132_2016_Solution1.pdf | Solution 1]]

|-
| 13 Jan (F)
| Configuration-Space Obstacles
| Lavalle Chapter 4.3 [[Media:CObstacle_Param.pdf | Notes on Parametrized C-obstacles]]
| [[Media:EllipseCObstacle.pdf | Picture of C-Obstacle]]; [https://www.youtube.com/watch?v=SBFwgR4K1Gk C-space Visualization Video];[http://demonstrations.wolfram.com/RobotMotionWithObstacles/ Mathematica Demo of Manipulator C-Obstacles];

|-
| align=center rowspan=2 | 3
| colspan=5 |

===== C-obstacles and the Classical Motion Planning Algorithms =====

|-
| 18 Jan (W)
| Computing C--space obstacles Review of Classical Motion Planning Algorithms The Road Map
| Lavalle 4.3 (pages 155-167) Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 4
| colspan=5 |
===== Roadmap Motion Planning Algorithms =====

|-
| 25 Jan (W)
| The Road Map (continued) Intro to Potential Field Methods
| Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | [[Media:Homework2.pdf | Homework #2]] [[Media:ME132_VM_Setup.pdf | Instructions for OMPL and ROS Virtual Machine Setup]]

|-
| align=center rowspan=2 | 5
| colspan=5 |

===== Potential Field and Cellular Decomposition Algorithms =====

|-
| 1 Feb (W)
| Potential Fields continued Cellular Decomposition Methods
| Lavalle 6.3 (Cellular Decompositions)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 6
| colspan=5 |

===== Sampling Based Methods and Graphs Search Algorithms =====

|-
| 8 Feb (W)
| Sampling Based Planning Methods Brief Tutorial on Graph Searching
| Lavalle, Sections 5.2-5.5 (Samplinlg Based Methods) Lavalle, Section 2.1 and 2.2 [[Media:Astar.pdf | Notes on A-star]]
|
| rowspan=1 align=center | [[Media:Homework3.pdf | Homework #3]] [[Media:ME132_Lab2.pdf | Instructions for Lab 2]] [http://robotics.caltech.edu/~jbowkett/me132_lab2.tar.gz Files for Lab 2]

|-
| align=center rowspan=2 | 7
| colspan=5 |

===== Graphs Search (continued), Sensor-Based Motion Planning =====

|-
| 15 Feb (W)
| A-Star & Dijkstra Graph Search Bug Algorithms
| [[Media:Astar.pdf | Notes on A-star]]; [[Media:AstarAnalysis.pdf | Analysis of A-Star]] [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
| [http://robotics.caltech.edu/~jwb/courses/ME132/handouts/LumelskyBug.pdf Lumelsky Bug Algorithm Paper]
| -N/A-

|-
| align=center rowspan=2 | 8
| colspan=5 |

===== Sensor-Based Motion Planning (continued) =====

|-
| 22 Feb (W)
| Tangent Bug Algorithm, Sensorized GVD, D*-Algorithm
| [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
|
| rowspan=1 align=center | [[Media:Homework4.pdf | Homework #4]] [http://robotics.caltech.edu/~jbowkett/me132_lab3.tar.gz Files for HW4/Lab 3]

|-
| align=center rowspan=2 | 9
| colspan=5 |

===== Sensor-Based Motion Planning, Intro to Localization/Mapping =====

|-
| 1 Mar (W)
| D*-Algorithm Intro to Localization and Mapping
| [[Media:DStar_Paper.pdf | D* Paper]] [[Media:DStar_Slides.pdf | Slides on D* Algorithms ]] Lavalle Section 12.3.2
|
| N/A-

|-
| align=center rowspan=2 | 10
| colspan=5 |

===== Intro to Localization/Mapping =====

|-
| 8 Mar (W)
| Odometry (wheeled and Laser scan matching)
| [[Media:LuMilios_Paper.pdf | Lu & Milio Paper on Scan Matching Odometry]]
|
| N/A-

|}

== 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.

ME CS 132 2017

2017-04-11T15:04:49Z

Jbowkett: /* Announcements For ME/CS 132(a,b) */

This is the homepage for ME/CS 132(a,b) (Advanced Robotics: Navigation and Vision) for Winter/Spring 2017.
__NOTOC__
== Course Staff, Hours, Location ==

{| border=1 width=100%
|-
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''
|-
| '''Instructor'''
| Joel Burdick
| 245 Gates-Thomas
| ''send mail for an appointment''
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]
| 626-395-4139
|-
| '''Teach Asst.'''
| Joseph Bowkett
| 205 Gates-Thomas
| TBD
| [mailto:jbowkett@caltech.edu jbowkett at caltech dot edu]
| 626-395-1989
|-
| '''Teach Asst.'''
| Daniel Pastor Moreno
| 205 Gates-Thomas
| TBD
| [mailto:dpastorm@caltech.edu dpastorm at caltech dot edu]
| 626-395-1989

|-
| '''Teach Asst.'''
| Yoke Peng Leong
| Annenberg
| TBD
| [mailto:ypleong@caltech.edu ypleong at caltech dot edu]
| 626-395-????

|-
| '''Administrative'''
| Sonya Lincoln
| 250 Gates-Thomas
| 7:30am-noon; 1:00pm-4:30pm
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]
| 626-395-3385
|}

'''Lecture Schedule:''' Based on a vote in the first organizing class, for the near future ME/CS 132(b) we meet at these times:
* '''Monday:''' 10:00-11:00 am
* '''Wednesday:''' 2:00-3:00 pm.
* '''Friday:''' 3:00-4:00 pm.

'''Lecture Location:''' 384 Firestone (for now)

'''Note:''' As the course enrollment firms up, we will vote one more time to find the most convenient time.

== Announcements For ME/CS 132(a,b) ==
* '''04/10/17:''' Lab 1a is available below, with demo times available
* '''03/15/17:''' The [[Media:FinalExam.pdf | Final Exam]] is available. Directions are on the front page.
* '''03/01/17:''' Homework 4 (last homework) deadline pushed to Friday March 10th to allow time for report writing after second hardware demos conclude Thursday
* '''02/28/17:''' Homework 4 deadline pushed to Wendesday March 8th, scheduling for 1st hardware demo sent in email
* '''02/22/17:''' [[Media:MECS132_FinalProject2017.pdf | Final Project Guidelines]] are available
* '''02/13/17:''' Office Hours for Homework #3 will be held 6-7 pm on Wed., Feb 15 in 220 SFL, and 4:00-5:30 pm on Thurs., Feb 16 in 231 SFL
* '''02/01/17:''' Office Hours for Homework #2 will be held 7:30-9:00 pm on Thurs., Feb. 1 in 135 Gates-Thomas
* '''01/22/17:''' Office Hours for Hmmeowrk #1 will be held 8-10 pm on Sunday, Jan. 22 in 135 Gates-THomas.
* '''01/05/17:''' The meeting time and place have been set for the class lectures.
* '''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 [http://www.amazon.com/Planning-Algorithms-Steven-M-LaValle/dp/0521862051/sr=1-1/qid=1167872270/ref=sr_1_1/105-3129515-7885245?ie=UTF8&s=books on-line at Amazon]. A [http://msl.cs.uiuc.edu/planning/ preprint of the text ] is available freely on-line, and is adequate for all course activities.

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 [http://www.amazon.com/Principles-Robot-Motion-Implementations-Intelligent/dp/0262033275/sr=1-2/qid=1167872622/ref=sr_1_2/105-3129515-7885245?ie=UTF8&s=books 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 Lecture Schedule for ME/CS 132(b) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=4 | 1
| colspan=5|
===== Odometry and Localization =====

|-
| 3 Apr. (Mon.)
| Class Overview & Mechanics 
| [[Media:ME_CS_132b_CourseOverview.pdf | ME/CS 132(b) Course Overview]]
|
| rowspan=3 align=center | -No Homework-

|-
| 5 Apr. (Wed.)
| Review of Wheel Odometry and Intro to Inertial Navigation
| [[Media:DiffDriveOdometry.pdf | Odometry for a Planar Differential Drive Vehicle]] [[Media:InertialNavigation.pdf | Slides on Inertial Navigation]]
|

|-
| 7 Apr. (Fri.)
| Laser Scan Matching
|
|

|-
| align=center rowspan=2 | 2
| colspan=5 |

===== Odometry and Localization (continued) =====

|-
| 10 Apr. (M)
| Spatial & Body Rotations for Gyroscopes
|
|
| rowspan=1 align=center | [[Media:132b_2017_lab1a.pdf | Lab 1a]]

|}

== Course Lecture Schedule for ME/CS 132(a) ==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Optional Reading || Homework

|-
| align=center rowspan=3 | 1
| colspan=5|
=====Introduction and Review of Rigid Body Kinematics =====

|-
| 4 Jan (Wed.)
| Class Overview & Mechanics The basic motion planning problem
| [[Media:ME_CS_132_CourseOverview.pdf | Course Overview]]
| [http://msl.cs.uiuc.edu/planning/ch1.pdf Chapter 1 of Lavalle]
| rowspan=2 align=center | -No Homework-

|-
| 6 Jan (Fri.)
| Review of Motion Planning Problems and Issues
|
|

|-
| align=center rowspan=3 | 2
| colspan=5 |
===== Intro to C-space and the Basic Motion Planning Problem =====

|-
| 11 Jan (W)
| Configuration Space (C-space) Review of Planar Rigid Body Kinematics
| Lavalle 4.2.1; Lavalle Chapter 3.2.2 (pages 94-97) [[Media: CObstacleNotes.pdf | Notes on C-obstacles]]; [[Media:StarAlgorithm.pdf | The Star Algorithm]];
| [http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page MLS Ch 2.1], Pages 19-23 Lavalle Chapter 3.1
| rowspan=2 align=center | [[Media:ME_CS_132_2016_Homework1.pdf | Homework 1]], [[Media:ME_CS_132_2016_Solution1.pdf | Solution 1]]

|-
| 13 Jan (F)
| Configuration-Space Obstacles
| Lavalle Chapter 4.3 [[Media:CObstacle_Param.pdf | Notes on Parametrized C-obstacles]]
| [[Media:EllipseCObstacle.pdf | Picture of C-Obstacle]]; [https://www.youtube.com/watch?v=SBFwgR4K1Gk C-space Visualization Video];[http://demonstrations.wolfram.com/RobotMotionWithObstacles/ Mathematica Demo of Manipulator C-Obstacles];

|-
| align=center rowspan=2 | 3
| colspan=5 |

===== C-obstacles and the Classical Motion Planning Algorithms =====

|-
| 18 Jan (W)
| Computing C--space obstacles Review of Classical Motion Planning Algorithms The Road Map
| Lavalle 4.3 (pages 155-167) Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 4
| colspan=5 |
===== Roadmap Motion Planning Algorithms =====

|-
| 25 Jan (W)
| The Road Map (continued) Intro to Potential Field Methods
| Lavalle 6.1, Lavalle 6.2 (focusing on roadmaps)
|
| rowspan=1 align=center | [[Media:Homework2.pdf | Homework #2]] [[Media:ME132_VM_Setup.pdf | Instructions for OMPL and ROS Virtual Machine Setup]]

|-
| align=center rowspan=2 | 5
| colspan=5 |

===== Potential Field and Cellular Decomposition Algorithms =====

|-
| 1 Feb (W)
| Potential Fields continued Cellular Decomposition Methods
| Lavalle 6.3 (Cellular Decompositions)
|
| rowspan=1 align=center | No Homework Assigned

|-
| align=center rowspan=2 | 6
| colspan=5 |

===== Sampling Based Methods and Graphs Search Algorithms =====

|-
| 8 Feb (W)
| Sampling Based Planning Methods Brief Tutorial on Graph Searching
| Lavalle, Sections 5.2-5.5 (Samplinlg Based Methods) Lavalle, Section 2.1 and 2.2 [[Media:Astar.pdf | Notes on A-star]]
|
| rowspan=1 align=center | [[Media:Homework3.pdf | Homework #3]] [[Media:ME132_Lab2.pdf | Instructions for Lab 2]] [http://robotics.caltech.edu/~jbowkett/me132_lab2.tar.gz Files for Lab 2]

|-
| align=center rowspan=2 | 7
| colspan=5 |

===== Graphs Search (continued), Sensor-Based Motion Planning =====

|-
| 15 Feb (W)
| A-Star & Dijkstra Graph Search Bug Algorithms
| [[Media:Astar.pdf | Notes on A-star]]; [[Media:AstarAnalysis.pdf | Analysis of A-Star]] [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
| [http://robotics.caltech.edu/~jwb/courses/ME132/handouts/LumelskyBug.pdf Lumelsky Bug Algorithm Paper]
| -N/A-

|-
| align=center rowspan=2 | 8
| colspan=5 |

===== Sensor-Based Motion Planning (continued) =====

|-
| 22 Feb (W)
| Tangent Bug Algorithm, Sensorized GVD, D*-Algorithm
| [[Media:BugSlides.pdf | Choset Slides on Bug Algorithms ]] Lavalle 667-673
|
| rowspan=1 align=center | [[Media:Homework4.pdf | Homework #4]] [http://robotics.caltech.edu/~jbowkett/me132_lab3.tar.gz Files for HW4/Lab 3]

|-
| align=center rowspan=2 | 9
| colspan=5 |

===== Sensor-Based Motion Planning, Intro to Localization/Mapping =====

|-
| 1 Mar (W)
| D*-Algorithm Intro to Localization and Mapping
| [[Media:DStar_Paper.pdf | D* Paper]] [[Media:DStar_Slides.pdf | Slides on D* Algorithms ]] Lavalle Section 12.3.2
|
| N/A-

|-
| align=center rowspan=2 | 10
| colspan=5 |

===== Intro to Localization/Mapping =====

|-
| 8 Mar (W)
| Odometry (wheeled and Laser scan matching)
| [[Media:LuMilios_Paper.pdf | Lu & Milio Paper on Scan Matching Odometry]]
|
| N/A-

|}

== 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.

File:132b 2017 lab1a.pdf

2017-04-11T01:24:28Z

Jbowkett: Jbowkett uploaded a new version of File:132b 2017 lab1a.pdf