The City College of New York

Department of Electrical Engineering

I5501: Introduction to ROBOTICS

(Fall 2021)


The class will be offered with on-line lectures and in-person exams (mid-term and final) at CCNY campus.

You are invited to weekly Zoom meetings for on-line lectures.

The first meeting:

When: Aug 31, 2021 06:30 PM Eastern Time (US and Canada)

Register in advance for this meeting:

Send inquiries to  and put “EE I5501” in subject line


Course Objective:

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.

General Information:


Graduate level course, 3 credits, Fall semester every year. Senior undergraduates can take this course with instructor's permission.


EE371 (Linear feedback Systems)

Lecture Time:

Tue. 6:30pm-9:15pm             


Prof. Jizhong Xiao


On-line lectures


Steinman Hall, Room T-534

Office Hours:

By appointment





 CCNY Robotics Lab:


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)

Reference books:

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

Tentative Topics:

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 mapping
Robot Sensing: visual and non-visual sensors

Course Schedule and Update:

Week and date

Lecture notes



Week 2 (Aug. 31)

Introduction:  PDF format;       ppt 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


slides updated

Week 3 (Sept. 7)

Labor Day (College Closed, Sept 3~8)



Week 4 (Sept. 14)

Kinematics I: ppt format


Handout on Kinematics

HWK1 due on Sept. 21, before class

Week 4

Sept 15~16, no classes scheduled



Week 5 (Sept. 21)


Kinematics II: ppt format

Denavit-Hartenberg Tutorial Video


HWK2 due on Sept. 29

Week 6 (Sept. 28)

Jacobianppt format


HWK3 due on Oct. 5

Handout on Trajectory Planning

Week 7 (Oct. 5)

Dynamics: ppt format


Handout on Dynamics, HWK4 due on Oct 14

Week 8 (Oct. 11)

College Closed, No Class (Columbus Day)

Week 8 (Oct. 12)

Manipulator Control: ppt format 


Handout on Manipulator Control, HWK5 due on Oct 19

Week 9 (Oct. 19)

Class Review



Week 10 (Oct 26)

Midterm Exam, 6:30pm~9:00pm

In person at CCNY Campus




Week 11 (Nov. 2)

Mobot: Mobile Robot

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





Week 12 (Nov. 9)

Robot Sensing & Sensors: ppt 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.



Week 13 (Nov. 16)

Motion Planning: ppt format


Week 14 (Nov. 23)

Mapping: ppt format



Nov. 25 ~Nov. 28,

Thanksgiving, College Closed

Week 15 (Nov. 30)

A taste of Robot Localization:  ppt format



Week 16 (Dec. 7)

Final Exam: Close-book with 1 cheat sheet allowed.

In person at CCNY Campus

HWK & Midterm exam grades are posted for review below. Let me know if you find any discrepancy.

Final Exam week (Dec.15~21)

Last day of the class: Dec. 13

Reading Day: Dec. 14

Final Exam Week



Dec 25, Christmas Day


Grading Policy:

The homework and mid term exam grades are posted here for review. 

Homework                                                          30%
Midterm exam                                                     30%
Final exam                                                           40%

A: 90~100; A-: 85~90; B+: 80~85; B: 75~80; B-: 70~75; C: 60-70; F: under 60