Robotics II: Lecture Schedule and Assignment Due Dates

Jan 24 - Introduction, background concepts, Corke's rvctools, and self-test with solution
Jan 28 - Review: DH Parameters, Assignment: Schunk Powerball Arm Inverse Kinematics
Jan 31 - Velocity Kinematics of Grasps - Handbook Chapter and notes
Feb 4 - Kinematic Contact Models and Dynamics of Grasps - Handbook Chapter, notes (models), and notes (dynamics)

Feb 7 - Grasp Properties - Handbook Chapter - notes, Assignment: Grasp HW
Feb 11 - Form Closure and Computational Tests - Handbook Chapter - notes
Feb 14 - Force Closure and Computational Tests - Handbook Chapter - notes
Feb 19 - Dynamics of Particle without Friction - notes
Feb 21 - Dynamics of a Particle with Friction - notes, Assignment: LCP HW
Feb 25 - Numerical solution methods: Lemke and Prox
Feb 28 - Dynamics of Rigid Body Systems with Unilateral and Bilateral Contacts - notes Painleve's Paradox
Mar 4 - Dynamics of Rigid Body Systems with Tethers notes and EXAM REVIEW
Mar 18- Discrete Planning - Lavalle: Chapter 1 and Section 2.1 - Ch1 notes, Ch2 notes Assignment: Project
Mar 21 - Discrete Planning (continued) - Lavalle: Section 2.2
Mar 25 - Geometric Representations and Transformations - Lavalle: Sections 3.1-3.3 - notes
Mar 28 - The Configuration Space - Lavalle: Sections 4.1 - Ch4.1 notes, Closed chains notes
Apr 1 - The Configuration Space (cont) - Lavalle: Section 4.2 Ch4.2 notes, Assignment: MP HW1
Apr 4 - The Configuration Space (cont) - Lavalle: Section 4.3 - Ch4.3 notes notes on expansive spaces
Apr 8 - Sample-Based Motion Planning - Lavalle: Sections 5.1-5.2 - Ch5.1 notes, Ch5.2 notes
Apr 11 - Sample-Based Motion Planning (cont) - Lavalle: Sections 5.3 - Ch5.3 notes
Apr 15 - Sample-Based Motion Planning (cont) - Lavalle: Sections 5.4 - Ch5.4 notes
Apr 18 - Sample-Based Motion Planning (cont) - Lavalle 5.5, 5.6 - Ch5.5 notes, Ch5.6 notes
Apr 22 - Combinatorial Motion Planning - Lavalle: Sections 6.1-6.2 - Ch6.1-2 notes. Assignment: MP HW2.
Apr 25 - Combinatorial Motion Planning (cont) - Lavalle: Section 6.3 - Ch6.3notes
Apr 29 - In-Class Project Presentations
May 2 - In-Class Project Presentations
May 6 - No Class.