CS 327A Advanced Robotic Manipulation Spring 2010/2011

• Announcements
• Course Staff & Office Hours
• Handouts
• Homeworks
• Project

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Class meets on MW 2:15-3:30pm in Gates B12.

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Announcements

• March 28: Please register for CS327A on Piazzza.
• March 28: Course schedule is posted. See the handouts.

Course Staff / Office Hours

Instructor Professor Oussama Khatib Office: Gates 144 Office Hours: Mon & Wed 4-5pm Phone: 732-9753 E-mail: khatib{AT}cs.stanford.edu

Teaching Assistant Samir Menon Office: Gates 122 Office Hours: Mon, Wed 3.30-4.30pm E-mail: smenon{AT}stanford.edu

Handouts

• Course Introduction ( pdf )

• Kinematics ( pdf )

• Jacobian ( pdf )

• Inverse Kinematics ( pdf )

• Dynamics ( pdf )

• Operational Space Dynamics ( pdf )

• Redundancy( pdf )

• Robot Cooperation ( pdf )

• Unified Motion/Force Control ( pdf )

• Elastic Planning ( pdf )

• Robot Design ( pdf )

Homeworks

Homeworks	Solutions	Out	Due
Homework 1 ( pdf )	Solution 1 ( )	Apr 7 (12.01am)	Apr 20 (11.59pm)
Homework 2 ( pdf )	Solution 2 ( )	Apr 21 (12.01am)	May 4 (11.59pm)
Homework 3 ( pdf )	Solution 3 ( )	May 12 (12.01am)	May 31 (11.59pm)

Project

• Some references for the reviews:
  • Springer Handbook of Robotics, Siciliano B., Khatib O. (eds.) 2008.
  • The Robotics Review 1, Khatib O., Craig J. J. and Lozano-Perez T. (eds.) 1988.
  • The Robotics Review 2, Khatib O., Craig J. J. and Lozano-Perez T. (eds.) 1992.

• Mini-Symposium Schedule ( )

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Last Updated: June 3 2010 1.10am by Emel Demircan