CS225A Experimental Robotics
Spring 2007-08
Announcements Updated 3/25/2008

[4/17/2008] Send TA your SUNetID for downloading the simulator and control.cpp file
[4/17/2008] The due date of assignment #2 is extended to 4/25 Friday.
[4/01/2008] The classroom is B12, Gates Bldg. And the room for labs is B30.


Course Staff / Office Hours
Instructor:

  Oussama Khatib
     Office Hours: Mon,Wed 4-5pm
    Phone: (650) 723-9573
    E-mail: khatib@cs.stanford.edu
 		Teaching Assistants:

  Jinsung Kwon
     Office Hours: by appointment
    Phone: (650) 725-8809
    E-mail: jinskwon@stanford.edu


Schedule and Syllabus

Lecture notes will be distributed in class. Other class materials will be made available for download below.

Date Topic Out Due
4/01 Introduction to the Course
[Overview]
    
4/03 Introduction to the Simulation Environment
[Simulation and Control Software] 		   
 
4/08 Hardware(Robot) Environment [Lab 1: Equations Of Motion]  
4/10 Equations of Motion in Joint Space  
 
4/15 Joint Space Control [Lab 1-1: Verification of Equations]  
4/17 Project Discussion [Lab 2: Joint Space Control, Identification]
 
4/22 Velocity Saturation and Trajectory Generation
[Cubic Splines] 		[Lab 3: Velocity Saturation, Trajectory Tracking, Inv. Kinematics] Lab 1, Lab 1-1
4/24 Project Discussion (Lab 1 Solutions)
 
4/29 Operational Space Control, E Matrix
5/01 Finalization of Projects
Obstacle Avoidance, Potential Fields 		[Lab 4: Operational Space Control]
 
5/06 No Lecture
5/08   [Lab 5: Potential Fields]
 
5/13    
5/15      
 
5/20    
5/22      
 
5/27      
5/29    
 
6/03      
6/05      
 
6/10    


Previous Projects

Spring 2004 :

Spring 2003 :

Spring 2002 :

Spring 2001 :


Resources

Puma Simulator: http://www.stanford.edu/class/cs225a/download/cs225aSimulator.zip

Visaul Studio 2003 .NET: http://www.stanford.edu/class/cs/compilers/

Control.cpp for Lab Assignment #1-1 : http://www.stanford.edu/class/cs225a/download/control.cpp

Romeo Simulator : http://www.stanford.edu/class/cs225a/download/Romeo_public.zip