The City College of New York

Department of Electrical Engineering

I5501: Introduction to ROBOTICS

(Fall 2022)

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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:

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-9:15pm
Instructor	Prof. Jizhong Xiao	Location:	Shepard Hall SH-19
Office:	Steinman Hall, Room T-534	Office Hours:	By appointment
E-mail:	jxiao@ccny.cuny.edu	Tel:	212-650-7268
Website:	CCNY Robotics Lab: http://robotics.ccny.cuny.edu

Textbooks:

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 Amazon.com.

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	Homework	Comment
Week 2 (Aug. 30)	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. 2~5)	Labor Day (College Closed, Sept 2~5)
Week 3 (Sept. 6)	Kinematics I: ppt format	HWK1	Handout on Kinematics HWK1 due on Sept. 13, before class
Week 4 (Sept. 13)	Kinematics II: ppt format Denavit-Hartenberg Tutorial Video	HWK2	HWK2 due on Sept. 20
Week 5 (Sept. 20)	Jacobian: ppt format	HWK3	HWK3 due on Oct. 10 Handout on Trajectory Planning
Week 6 (Sept. 26~27)	No Classes Scheduled (Rosh Hashanah)
Week 7 (Oct. 4~5)	No Classes Scheduled (Yom Kippur),
Week 8 (Oct. 10)	College Closed, No Class (Columbus Day)
Week 8 (Oct. 11)	Dynamics: ppt format	HWK4	Handout on Dynamics, HWK4 due on Oct 18
Week 9 (Oct. 18)	Manipulator Control: ppt format	HWK5	Handout on Manipulator Control, HWK5 due on Oct 25
Week 10 (Oct 25)	Midterm Exam, 6:30pm~9:00pm In person at CCNY Campus
Week 11 (Nov. 1)	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	HWK6
Week 12 (Nov. 8)	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.	HWK7
Week 13 (Nov. 15)	Motion Planning: ppt format	HWK8
Week 14 (Nov. 22)	Mapping: ppt format	HWK9
Nov. 24 ~Nov. 27,	Thanksgiving, College Closed
Week 15 (Nov. 29)	A taste of Robot Localization:  ppt format	HWK10
Week 16 (Dec. 6)	Final Exam: Close-book with 1 cheat sheet allowed. In person at CCNY Campus		.
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