** From Fall 2022, this course has two numbers: COMP 514 (for science students) and ECSE 554 ( for engineering students). Please enroll one but not both **
This course introduces the approach and the challenges in the key components of robotics: representations, kinematics, dynamics, rigid-body chains, redundant systems, underactuated systems, control, planning, and perception. The course will also introduce the important concepts of manipulation and locomotion. This course also provides a practical guide to robotics, such as safety, collisions, and real-time software development.
This course is designed for students who are interested in working with robots. Students will be required to learn the Robot Operating System (ROS) during the course and implement a software framework from scratch.
Required
MATH 223 Linear Algebra or MATH 271 Linear Algebra and Partial Differential Equations
MATH 323 Probability or ECSE 305 Probability for Engineering
COMP 206 Introduction to Software Systems
COMP 250 Introduction to Computer Science or equivalent
Recommended
COMP 251 Algorithms and Data Structures
COMP 322 Introduction to C++ or familiar with C++
Familiar with Ubuntu
90% individual assignments
10% oral exam
Modern Robotics by Lynch and Park (2017)
Representations
Kinematics
Dynamics
Controllers
Kinematic Control
Dynamic Control
Redundancy Resolution
Force Control and Contacts
Grasping
Motion Planning
Trajectory Generation
Potential Fields
Collision Detection
Collision Avoidance
Singularity Avoidance
Advanced Topics
Locomotion
Whole-body Control
Balance
Recent Applications
Ubuntu 20.04
ROS Noetic