Introduction to Robotics (CS223A)
Homework #7
(Winter 2013/2014)
Due: Wednesday, March 12
Q1
Q2
Q3
grade:
Some tips for doing CS223A problem sets:
Print this problem set and ll in your answers in the dedicated white space right below
the question stateme
Introduction to Robotics (CS223A)
(Winter 2013/2014)
Homework #2
Due: Wednesday, January 29
Some tips for doing CS223A problem sets:
Print this problem set and ll in your answers in the dedicated white space right below
the question statement. Alternativ
IntroductionToRobotics-Lecture10
Instructor (Krasimir Kolarov):Good afternoon. My name is Krasimir Kolarov. I am going to be
teaching the lecture today and also the co-author of the notes for the course. So if you have any
complaints, direct it to me. If
IntroductionToRobotics-Lecture11
Instructor (Oussama Khatib):All right. Lets get started. So the video segment today is quite
interesting. It was presented at the 2000 International Conference on Robotic and Automation, and Im
sure youre going to like it.
IntroductionToRobotics-Lecture12
Instructor (Oussama Khatib):All right. So today, were going to the Alps. [Video Playing]
An innovative Space Rover with extended climbing abilities. Switzerland.
Autonomous mobile robots have become a key technology for un
IntroductionToRobotics-Lecture13
Instructor (Oussama Khatib):Okay. Lets get started. So todays video is about dampening. This is
from Vancouver Tech and it was presented as ISRR, International Symposium of Robotic Research in
93.
[Video playing]
At the Un
IntroductionToRobotics-Lecture14
Instructor (Oussama Khatib):Okay. Okay. Lets get started. So todays video segment is about tactile
sensing. Now, I wonder what is difficult about building tactile sensors; anyone has an idea? So what is the
problem with bu
IntroductionToRobotics-Lecture15
Instructor (Oussama Khatib):Okay. Okay. Lets get started. So todays video segment is about tactile
sensing. Now, I wonder what is difficult about building tactile sensors; anyone has an idea? So what is the
problem with bu
IntroductionToRobotics-Lecture16
Instructor (Oussama Khatib):Okay. Well, we have a special today. This robot is going to show you a
video. I'm not sure if you're familiar with those cassettes anymore. Do they exist still? So the [inaudible]
here is going
Spatial Descriptions
Task Description Transformations Representations
Kinematics
Configuration Parameters
Manipulator
Revolute Joint Prismatic Joint
A set of position parameters that describes the full configuration of the system.
k Lin i
9 parameters/li
Movie Segment
The Hummingbird, IBM Watson Research Center, ICRA 1992 video proceedings
Manipulator Kinematics
Link Description Denavit-Hartenberg Notation Frame Attachment Forward Kinematics
Manipulator
Link i -1 Joint axis i -1 Joint axis i Link 1
Link
Trajectory Generation
Basic Problem: Move the manipulator arm from some initial position cfw_TA to some desired final position cfw_TC. (May be going through some via point cfw_TB)
cfw_TA cfw_TB Path points : Initial, final and via points Trajectory : Time
Video Segment
Juggling Robot, Dan Koditschek University of Michigan, ISRR93 video proceedings
Control
Natural Systems PID Control Joint-Space Dynamic Control Task-Oriented Control Force Control
Robot Control
Joint-Space Control
Task-Oriented Control
1
Jo
IntroductionToRobotics-Lecture09
Instructor (Oussama Khatib):Okay. Lets get started. So today its really a great opportunity for all of
us to have a guest lecturer. One of the leaders in robotics vision. A Gregory Hager from John Hopkins
who will be givin
IntroductionToRobotics-Lecture08
Instructor (Oussama Khatib):Okay, let's get started. So today's video segment is it's about parallel
parking. I know a lot of you don't know how to do the parallel parking, so now you'll get into the car and
you press the
IntroductionToRobotics-Lecture07
Instructor (Oussama Khatib):Okay. Lets get started. So for this segment come on. Interesting. This is
really an interesting development. In 99, a robot playing volleyball, and this was developed by a
company, Toshiba, whic
Introduction to Robotics (CS223A)
(Winter 2013/2014)
Homework #4
Due: Wednesday, February 19, 12:50pm
Name
SUNet ID
Some tips for doing CS223A problem sets:
Print this problem set and ll in your answers in the dedicated white space right below
the questi
Introduction to Robotics (CS223A)
(Winter 2013/2014)
Homework #5
Due: Wednesday, February 26, 5:00pm
Some tips for doing CS223A problem sets:
Print this problem set and ll in your answers in the dedicated white space right
below the question statement. A
Introduction to Robotics (CS223A)
(Winter 2013/2014)
Name
Homework #3
Due: Wednesday, February 5, 12:50pm
SUNet ID
Some tips for doing CS223A problem sets:
Print this problem set and ll in your answers in the dedicated white space right below
the questio
Introduction to Robotics (CS223A)
Homework #6
(Winter 2013/2014)
Due: Wednesday, March 5
Q1
Q2
grade:
Some tips for doing CS223A problem sets:
Print this problem set and ll in your answers in the dedicated white space right below
the question statement.
Video Segment
DARPA Robotics Challenge 2013 - A
Woodstock for Robots, A. AdenBuie and J. Markoff, 2013.
Rigid Body Dynamics
Newton-Euler Formulation
Articulated Multi-Body Dynamics
Recursive Algorithm
Lagrange Formulation
Explicit Form
Dynamics
Lagr
Video Segment
From Compliant Balancing to
Dynamic Walking, ATR/NICT,
Japan, ICRA 2010
Rigid Body Dynamics
Newton-Euler Formulation
Articulated Multi-Body Dynamics
Dynamics
Recursive Algorithm
Lagrange Formulation
Explicit Form
Joint Space Dynamics
M
IntroductionToRobotics-Lecture01
Instructor (Oussama Khatib):Okay. Lets get started. Welcome to intro to robotics 2008. Happy new
year, everyone. In introduction to robotics, we are going to really cover the foundations of robotics. That
is, we are going
IntroductionToRobotics-Lecture02
Instructor (Oussama Khatib):Okay. Let's get started. So as always, the lecture starts with a video
segment, and today's video segment comes from 1991, and from the group at the British Columbia and it
deals with Bibet walk
IntroductionToRobotics-Lecture03
Instructor (Oussama Khatib):Okay, lets get started. So todays movie segment is about a special
actuator. Probably you saw this on the first lecture, but we will see some more details. So this is a flexible
actuator that co
IntroductionToRobotics-Lecture04
Instructor (Oussama Khatib):All right. Lets get started. So today video segment is about a small
device called the Hummingbird. The Hummingbird was developed at IBM Watson Research Center, and
it was published in the proce
IntroductionToRobotics-Lecture06
Instructor (Oussama Khatib):All right. Lets get started. So today is a video segment is video segment.
Something happened. Okay. We have a little problem. I guess we can start over. Okay. My computer just
crashed. Okay. Le
IntroductionToRobotics-Lecture05
Instructor (Oussama Khatib):Okay. Lets get started. So today, were going to the zoo and this video
segment, which comes from 93; this is from [inaudible] University. Its quite interesting. Video
Instructor (Oussama Khatib)