The City College of New York
Department of Electrical Engineering
G5501: Introduction to ROBOTICS
To expose graduate students/senior undergraduate students with the fundamental issues related to the research and applications of robotic systems. The course covers both robot manipulators and mobile robots. Students will be able to learn the mathematic tools for modeling, analysis, and control of a robotic system. The students will be able to gain the knowledge of robot kinematics, dynamics, motion planning, trajectory generation, sensing, and robot controller design.
| Description: | Graduate level course, 3 credits, Fall semester every year. Senior undergraduates can take this course with instructor's permission. | ||
| Prerequisites: | EE371 (Linear feedback Systems) | Lecture Time: | Tue. 6:30pm-9:00pm |
| Instructor | Prof. John (Jizhong) Xiao | Location: | Steinman Hall, T-512 |
| Office: | Steinman Hall, Room T534 | Office Hours: | TuTh. 1:00pm -2:00pm or by appointment |
| E-mail: | jxiao@ccny.cuny.edu | Tel: | 212-650-7268 |
| Website: | CCNY Robotics Lab: http://134.74.16.73/ Dr. Xiao's Personal website: http://www-ee.ccny.cuny.edu/www/web/jxiao/jxiao.html | ||
1. Robotics --- Control, Sensing, Vision and Intelligence, K. S. Fu, R. C. Gonzalez, C. S. G. Lee, McGraw-Hill, 1987, ISBN 0-07-022625-3. (Out of print, course pack will be available before class)
2. Introduction to Autonomous Mobile Robots, Roland Siegwart, Illah R. Nourbakhsh, The MIT Press, 2004, ISBN 0-262-19502-X. (Available at CCNY bookstore)
1. Introduction to AI Robotics, Robin R. Murphy, The MIT Press, 2000, ISBN 0-262-13383-0.
2. Introduction to Robotics: Analysis, Systems, Applications, Saeed B. Niku, Prentice Hall, ISBN 0-13-061309-6.
3. Sensors for Mobile Robots --- Theory and Application, H. R. Everett, A. K. Peters, Ltd, ISBN 1-56881-048-2.
4. Computational Principles of Mobile Robotics, Gregory Dudek, Michael Jenkin, Cambridge University Press, 2000, ISBN 0-521-56876-5.
5. Introduction to Robotics, Phillip John McKerrow, 1990, ISBN 0-201-18240-8.
6. Kinematics and Dynamics of Machinery, Charles E. Wilson, J. Peter Sadler, Pearson Education, Inc. ISBN 0-201-35099-8.
7. Fundamentals of Robotics --- Analysis and Control, Robert J. Schilling, Prentice Hall, 1990, ISBN 0-13-344433-3.
You can find these books (new or used books) from Amazon.com.
Introduction: historical development of robotic systems,
research perspectives
Robot Manipulators: homogeneous representation, robot
kinematics and dynamics models, path and trajectory planning, robot motion
control
Mobile Robots: kinematics model and dynamic model of wheeled mobile
robots, motion planning and trajectory generation, navigation and
maping
Robot Sensing: visual and non-visual sensors
Course Schedule and Update:
| Week and date | Lecture notes | Homework | Comment |
| Week 1 (Aug. 30) | Introduction: ppt format, PDF format; video: 1) automat 2) tea dole 3) industrial robot 4) Shakey 5) Stanford Cart 6) PUMA 7) ARM Dexterity 8)Field Robots 9)Service Robot 10) AI-1 11) AI-2 12) Autonomous Robot 13) Humanoid 14) Sony Qrio | Lecture notes updated. | |
| Week 2 (Sept. 6) | Kinematics I: ppt format, PDF format | HWK1 | Lecture notes updated. HWK1 due date: Sept. 13 before class |
| Week 3 (Sept. 13) | Kinematics II: ppt format, PDF format | HWK2 | Lecture notes updated. HWK2 due date: Sept. 20 before class |
| Week 4 (Sept. 20) | Jacobian: ppt format, PDF format | HWK3 | Lecture notes updated. HWK3 due date: Sept. 27 before class |
| Week 5 (Sept. 27) | Dynamics: ppt format, PDF format | HWK4 | Lecture notes updated. HWK4 due date, Oct. 7 (Friday). |
| Week 6 (Oct. 4) | NO CLASSES (College Open) | ||
| Week 7 (Oct. 11) | Monday Schedule | ||
| Week 8 (Oct. 18) | Manipulator Control: ppt format, PDF format | ||
| Week 9 (Oct. 25) | Course Review and Q&A section: ppt format, PDF format | ||
| Week 10 (Nov. 1) | Midterm Exam, 6:45pm~8:45pm, T-512 | close book, close note, one page note allowed | |
| Week 11 (Nov. 8) | Midterm Exam Evaluation: ppt
format
Mobot: Mobile Robot: ppt format, PDF format Required Readings: Structural properties and classification of kinematic and dynamic models of wheeled mobile robots; Campion, G.; Bastin, G.; Dandrea-Novel, B.; IEEE Transactions on Robotics and Automation, Volume: 12 , Issue: 1 , Feb. 1996, Pages:47 - 62 |
HWK5 | You are required to redo
the questions which you didn't answer correctly in the Midterm Exam.
Attach your new answers with your exam and submit them together by Nov. 22
before the class.
Lecture notes updated. HWK5 due date: Nov. 15 before class. |
| Week 12 (Nov. 15) | Robot Sensing & Sensors: ppt
format, PDF
format Required Readings: Mobile robot positioning ---- sensors and techniques; J. Borenstein, H. R. Everett, L. Feng, and D. Wehe; Journal of Robotic Systems, Vol. 14, No. 4, pp231-249, 1997. Measurement and correction of systematic odometry errors in mobile robots; J. Borenstein, L. Feng; IEEE Trans. on Robotics and Automation, Vol. 12, No. 6, pp869-880, 1996. |
HWK6 | Lecture notes updated.
HWK6 due date: Nov. 22 before class. |
| Week 13 (Nov. 22) | Motion Planning: ppt format, PDF format | HWK7 | Lecture notes updated.
HWK7 due: Nov. 29 before class |
| Nov 24-27 (Thanksgiving) | NO CLASS | ||
| Week 14 (Nov. 29) | Mapping: ppt format, PDF format | HWK8 | Lecture notes updated
HWK8 due: Dec. 6 before class |
| Week 15 (Dec. 6) | Localization and course summary: ppt format, PDF format | Lecture notes updated. | |
| Week 16 (Dec. 13) | Final Exam, Coverage: Mobile robot, close-book with one-page note | 6:30pm-9:00pm, T512 | |
| Final Exam week | "The Fall 2005 Course and Teacher Survey has been e-mailed to all students using their CCNY e-mail address. The deadline for submitting the survey is the last day of Final Examinations. Please encourage your students to respond to this survey." --- CCNY administration | I will not submit your final grades until 70% of students have done the survey. Your survey will have nothing to do with your grades. | |