The City
College of New York
Department of
Electrical Engineering
I5501:
Introduction to ROBOTICS
(Fall 2023)
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.
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Description: |
Graduate level course, 3 credits, Fall semester every
year. Senior undergraduates can take this course with instructor's
permission. |
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Prerequisites: |
EE371 (Linear feedback Systems) |
Lecture Time: |
Tue.
6:30pm-9:15pm |
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Instructor |
Prof. Jizhong Xiao |
Location: |
Shepard Hall SH-19 |
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Office: |
Steinman Hall, Room T-534 |
Office Hours: |
By appointment |
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E-mail: |
jxiao@ccny.cuny.edu |
Tel: |
212-650-7268 |
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Website: |
CCNY Robotics Lab: http://robotics.ccny.cuny.edu |
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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)
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.
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
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Week and date |
Lecture notes |
Homework |
Comment |
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Week 1 (Aug. 29) |
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 |
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slides updated |
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Week 2 (Sept. 4) |
Labor Day
(College Closed, Sept 2~5) |
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Week 2 (Sept. 5) |
HWK1 due on Sept.12, before class |
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Week 3 (Sept. 12) |
Kinematics
II: ppt format |
HWK2 due on Sept. 19 |
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Week 3 (Sept. 15~16) |
No Classes
Scheduled (Rosh Hashanah) |
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Week 4 (Sept. 19) |
Jacobian: ppt format |
HWK3 due on Sept. 26 |
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Week 5 (Sept. 24~25) |
No Classes
Scheduled (Yom Kippur) |
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Week 5 (Sept. 26) |
Dynamics: ppt format |
Handout
on Dynamics, HWK4 due on Oct 3 |
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Week 6 (Oct. 3) |
Manipulator
Control: ppt format |
Handout
on Manipulator Control, HWK5 due on Oct 17 |
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Week 7 (Oct. 9) |
College Closed, No Class (Columbus Day) |
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Week 7 (Oct. 10) |
Monday Schedule |
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Week 8 (Oct. 17) |
Review |
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Week 9 (Oct 24) |
Midterm Exam, 6:30pm~9:00pm In person at CCNY Campus |
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Week 10 (Oct. 31) |
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 |
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Week 11 (Nov. 7) |
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. |
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Week 12 (Nov. 14) |
Motion Planning: ppt format |
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Week 13 (Nov. 21) |
Mapping: ppt format |
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Nov. 23 ~Nov. 26, |
Thanksgiving, College Closed |
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Week 14 (Nov. 28) |
A taste of Robot
Localization: ppt format |
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Week 15 (Dec. 5) |
Final Exam:
Close-book with 1 cheat sheet allowed. In person at CCNY Campus |
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Final Exam week (Dec.14~20) |
Last day of the class: Dec. 11 Reading Day: Dec. 12-13 Final Exam Week; |
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Dec 25,
Christmas Day |
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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