EE 125 Fall 2014 Professor Ruzena Bajcsy GSIs

EE 125 Fall 2014 Professor: Ruzena Bajcsy GSIs: Robert Matthew Austin Buchan Aaron Bestick

Preamble • All slides in this course have benefited from previous lectures prepared by • Vincent Duindam, Edgar Lobaton, Ram Vasudevan , notes from Zexiang Li and Yuanqing Wu, based on the text book : • R. Murray, Z. Li and S. S. Sastry : A Mathematical Introduction to Robotics and Manipulation. (available free online via bspace), however , the modifications are by R. Bajcsy.

Organization of the course • 20% for 4 homeworks (we will drop the lowest homework) • Each homework is posted on Friday on Bspace and is two weeks later on Friday at 5 pm sharp. • 20% for 8 labs • 15% each for the 2 midterms (30% total) • 30% for the final project • Each lab report is to be completed with a partner and is due at the beginning of the next lab

Organization, cont. • Bspace and Piazza, all the lectures and other materials will be posted there. • There will be two midterms: • Midterm 1: on October 7 th with review on October 2 nd • Midterm 2: on November 18 th with review on November 13 th • There is a final project instead of a final exam.

Prerequisites for this course • Knowledge of linear algebra • Programming in Python (for labs and homeworks) • Curiosity about how things work • Interest in experimental work • Willingness to explore • Home-works will help you to do well in midterms. • Labs will help you with projects.

The current plan • Lecture 0: Organization of the course and introduction to Robotics as a field • Lecture 1: General principles of Rigid Body Motion • Lecture 2: Rotation matrices and their properties • Lecture 3: Rigid Motion, Homogeneous coordinates

Current plan, cont. • Lecture 4: Exponential coordinates, velocities and Twists • Lecture 5 : Forward Kinematics • Lecture 6: Velocity of a Rigid Body • Lecture 7: Inverse Kinematics • Lecture 8: Jacobian and differential inverse kinematics • Lecture 9: 2 D Vision , Image processing

Current plan, cont. • Lecture 10 : Review • Lecture 11: Midterm 1 • Lecture 12: 3 D Vision, principles of active distance measures • Lecture 13: Path Planning –Configuration vs. world space • Lecture 14: Path Planning-Algorithms. • Lecture 15: Forces and Wrenches

Current plan, cont. Lecture 16: Inertial Properties of rigid bodies in 3 D Lecture 17: Newtonian Dynamics Lecture 18: Lagrangian Lecture 19, 20: Dynamics of Open Chains

Current plan, cont. Lecture 21: Holiday Lecture 22: Review Lecture 23: Midterm 2 Lecture 24: Feedback Control Lecture 25: Medical Robotics Lecture 26: Holiday Lecture 27: Projects Lecture 28: Projects reviews

Current Plan for Labs • Lab 1: ROS tutorials • Lab 2: ROS tutorials (cont) After Labs 1 -2, each lab section will be split in half. Each group will work with Baxter every other week. • Lab 3 -4: – Camera calibration and range finding – Forward kinematics with Baxter

Labs • Lab 5 -6: – Object tracking using cameras – Inverse kinematics, pick and place with Baxter • Lab 7 -8: – 3 D Reconstruction, homographies – Path planning with Baxter • Project Milestones • Project deadlines: – 12/12 (demo), 12/19 (website)

Lab reports: • Describe the assignment (your understanding of the assignment) • Describe the experimental set up • What did you measure, what are your assumptions, what did you compute from the measurements • How many times did you repeat the measurement • How do you evaluate your results (systematic errors, random errors) • Suggestions for the future on the experiment (lessons learned)

Office Hours • GSI Office Hours: – Robert Matthew Monday 10 -11 am 337 A Cory • Prof. Bajcsy Office Hours: – Tuesday and Thursday 9 -10 am in Sutardja Dai Hall 719