Week 1 (Aug 25, 27)

Topics:
Tues: Class Introduction - class logistics and overview.
What is Covid-19? How can robots help?
Readings:

Week 2 (Sep 1, Sep 3)

Topics: Working in Teams
Using the Customer Discovery process
Readings: The Start-Up User Manual, Steve Blank [SB]

Business Model Generation, Alexander Osterwalder [AO]

Week 3 (Sep 8, 10)

ROS Intro
Working in International Teams
Topics:
Readings: Are you familiar with Coordinate Systems?
https://www.youtube.com/watch?v=QdHO_9M8-UI
https://en.wikipedia.org/wiki/Coordinate_system

Rotation matrices
https://www.youtube.com/watch?v=RqZH-7hlI48

Quaternions
https://www.youtube.com/watch?v=3BR8tK-LuB0
https://en.wikipedia.org/wiki/Quaternion

For more detail on rotations and unit quaternion:
https://www.youtube.com/watch?v=3BR8tK-LuB0

Week 4 (Sep 15, 17)

Topics: ROS Basics
Robot Simulators (Gazebo)
Readings: Baxter Camera Tutorial

Week 5 (Sep 22, 24)

Topics: ROSlaunch files
ROSrun, ROScd, ROScore
Using Transforms in ROS
Working with the nVidia TX-2
Readings: TF Python Tutorial
TF Setup Tutorial

Smith and Cheeseman I (IJRR, 1986)
Smith Self Cheeseman II (Auto. Robot Vehicles, 1990)

Week 6 (Sep 29, Oct 1)

Topics: Tutorial Extra: Hokuyo from F1tenth.org (different setup than our cars)
Lecture 2.1: Sensors from F1tenth.org
Embedded Control
R/C Servos
YouTube: Lecture 3.2 from F1tenth.org
Lecture 3.3 from F1tenth.org
Readings: Z. Zhang, "Microsoft Kinect Sensor and Its Effect," in IEEE MultiMedia, vol. 19, no. 2, pp. 4-10, Feb. 2012.
J. Han, L. Shao, D. Xu and J. Shotton, "Enhanced Computer Vision With Microsoft Kinect Sensor: A Review," in IEEE Transactions on Cybernetics, vol. 43, no. 5, pp. 1318-1334, Oct. 2013.

Week 7 (Oct 2, 4)

Topics: Lecture 2.3: PID Control from F1tenth.org
Readings: OpenCV Camera Control Tool
Chs 8, 9 [MQ]

Half-Week 8 (Oct 11)

No Lab Oct 7 - Fall Break
Topics: Path Planning Basics
YouTube:
Tutorial 5 from F1tenth.org
Lecture 2.2: Localization from F1tenth.org
Readings:

Week 9 (Oct 16, 18)

Topics: Possible Meetings in Lab, Oct 16 and/or 18 - check announcements
SLAM
Vision Sensors
Kalman Filters Tutorial
Artificial Potential Fields
Trajectory Generation
YouTube:
Tutorial 6 from F1tenth.org
Hector SLAM Tutorial from F1tenth.org
Readings:

Week 10 (Oct 23, 25)

No lecture Oct 23 - meet in lab
Topics: Robot Position Control
F1tenth Competition
F1tenth Crashes
Readings skim Ch 9

Week 11 (Oct 30, Nov 1)

Topics: Robot Mechanisms
Readings: Ch 12, 13 [MQ]

Week 12 (Nov 6, 8)

IROS (International Conference on Robots and Systems - Prof. Voyles out of town, Mythra will hold class)
Topics: Following breadcrumbs: waypoints
Readings: Ch ?? [MQ]

Week 13 (Nov 13, 15)

Topics: GraspIt
Readings: Ch 15 [MQ]

Week 14 (Nov 20, 22)

Topics: Manipulation
Robot Hands
reactive grasp planning
MoveIt
Readings:

Half-Week 15 (Nov 25)

No class Nov 27 or Nov 29: Thanksgiving Break
Nov 25 in KNOY Atrium for Time Trials
Topics: Readings:

Week 16 (Dec 4, 6)

Lab Dec 2 in KNOY Atrium for Time Trials
Topics: Grasp planning with sensing
Readings:

[1] H. Asada and J-J.E. Slotine, ``Robot Analysis and Control'', John Wiley and Sons, New York, NY, 1986.

[2] K.S. Fu, R.C. Gonzalez, and C.S.G. Lee, ``Robotics: Control, Sensing, Vision, and Intelligence'', McGraw-Hill, New York, NY, 1987.

[3] R.M. Haralick and L.G. Shapiro, ``Computer and Robot Vision'', Addison-Wesley, Reading, MA, 1992.

[4] B.K.P. Horn, ``Robot Vision'', MIT Press, Cambridge, MA, 1986.

[5] M.T. Mason and J.K. Salisbury, ``Robot Hands and the Mechanics of Manipulation'', MIT Press, Cambridge, MA, 1985.

[6] P.J. Mckerrow, ``Introduction to Robotics'', Addison-Wesley, Reading, MA, 1991.

[7] Y. Nakamura, ``Advanced Robotics: Redundancy and Optimization'', Addison-Wesley, Reading, MA, 1991.

[8] R.P. Paul, ``Robot Manipulators: Mathematics, Programming, and Control'', MIT Press, Cambridge, MA, 1981.

[9] M.H. Raibert, ``Legged Robots that Balance'', MIT Press, Boston, MA, 1986.

[10] W.E. Snyder, ``Industrial Robots: Computer Interfacing and Control'', Prentice-Hall, Englewood Cliffs, NJ, 1985.

[11] T. Yoshikawa, ``Foundations of Robotics: Analysis and Control'', MIT Press, Cambridge, MA, 1990.

[12] Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)

[13] Proceedings of the IEEE/RSJ International Conference on Robotics and Systems(IROS)