Difference between revisions of "ME 449 Robotic Manipulation"

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The final project is described [http://hades.mech.northwestern.edu/index.php/Mobile_Manipulation_Capstone_2023 '''on this page''']. It is due in Canvas on Thursday December 7 at noon.
The final project is described [http://hades.mech.northwestern.edu/index.php/Mobile_Manipulation_Capstone_2023 '''on this page''']. It is due in Canvas on Thursday December 7 at noon.


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* '''Due Monday November 21 at 1:30 PM on Canvas''': Milestone 2. ''(You will do milestone 2 first! Milestone 1 will come next.)'' You will turn in a single zip file named FamilyName_GivenName_milestone2.zip with your solution to milestone 2. The zip file should include a README.pdf file with a brief summary of your solution and how to use it, and if your code is not working properly, it should correctly point out the problems. The zip file should also include a directory with the commented code you wrote, including a cut-and-pastable comment at the beginning showing how to execute the code to generate the csv file included in the submission; a CoppeliaSim video showing your reference trajectory of the end-effector (similar to [https://www.youtube.com/watch?v=8d_cYwV58lI&feature=youtu.be this video]); and the csv file that your code generated to create the video.
* '''Due Monday November 20 at 1:30 PM on Canvas''': Milestone 2. ''(You will do milestone 2 first! Milestone 1 will come next.)'' You will turn in a single zip file named FamilyName_GivenName_milestone2.zip with your solution to milestone 2. The zip file should include a README.pdf file with a brief summary of your solution and how to use it, and if your code is not working properly, it should correctly point out the problems. The zip file should also include a directory with the commented code you wrote, including a cut-and-pastable comment at the beginning showing how to execute the code to generate the csv file included in the submission; a CoppeliaSim video showing your reference trajectory of the end-effector (similar to [https://www.youtube.com/watch?v=8d_cYwV58lI&feature=youtu.be this video]); and the csv file that your code generated to create the video.
* ''' Due Thursday December 8 at 12:00 PM (noon) on Canvas''': The entire final writeup, as described [http://hades.mech.northwestern.edu/index.php/Mobile_Manipulation_Capstone_2022 '''at this page'''], in a single zip file named FamilyName_GivenName_capstone.zip. '''You may earn up to 10% extra credit on the capstone project by implementing self-collision avoidance.''' See the description of the final project writeup.
* ''' Due Thursday December 7 at 12:00 PM (noon) on Canvas''': The entire final writeup, as described [http://hades.mech.northwestern.edu/index.php/Mobile_Manipulation_Capstone_2022 '''at this page'''], in a single zip file named FamilyName_GivenName_capstone.zip. '''You may earn up to 10% extra credit on the capstone project by implementing self-collision avoidance.''' See the description of the final project writeup.
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# If your code is written in Python, indicate which version of Python should be used.
# If your code is written in Python, indicate which version of Python should be used.
# '''Only submit the code that you wrote.''' DO NOT submit MR library functions. The TAs will test your code using the MR library functions imported into MATLAB or Python as appropriate.
# '''Only submit the code that you wrote.''' DO NOT submit MR library functions. The TAs will test your code using the MR library functions imported into MATLAB or Python as appropriate.
-->
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==Quizzes==
* [[Media:ME449-quiz1-solutions-2019.pdf|Quiz 1 Solutions]] (average score 22.4/27)
* [[Media:ME449-quiz2-solutions-2019.pdf|Quiz 2 Solutions]] (average score 31.2/35)

==Detailed Syllabus==
[https://docs.google.com/spreadsheets/d/1UrBFai-1Z98Ry48bW50OMqxvvqZ3Jo8pHgZmljOgPpo/edit?usp=sharing '''The course calendar'''], including video lecture and reading assignments due before each class.

[https://docs.google.com/spreadsheets/d/1jWd_POLlQYxQLv1Igv-eVmORdtEcLi0mU_rVLkNguYI/edit?usp=sharing '''Click here for a graphical view of the class schedule, including student lectures.''']

Homeworks are due at the beginning of class every Wednesday, unless otherwise noted. You will watch the videos and do the reading in advance of class using the material, as noted in the syllabus below. A typical weekly schedule will consist of:
: M: Video/reading comprehension quick quiz and help with homework.
: W: Video/reading comprehension quick quiz, homework solutions, plus '''EITHER''' student lecture '''OR''' quiz preparation.
: F: Video/reading comprehension quick quiz plus '''EITHER''' student lecture '''OR''' quiz.

'''Class 1''' (W 9/20)
: Welcome to the course and course website. Structure of the course (HW due Wed, student-generated lectures and learning materials, in-class assignments, feedback on student lectures, occasional Friday quizzes). Book, software, (lack of) D-H parameters, syllabus, V-REP simulator, office hours.

At home:
: Videos: first 3 videos of Chapter 2, through Chapter 2.2
: Reading: Chapters 2.1 and 2.2
: Software: download github software with book, install V-REP and verify that you can use Scenes 1 and 2 (the UR5)
: '''HW1, due 1:30 PM 9/27''': Exercises 2.3, 2.9, 2.20, 2.29. Also, create your own example system with closed loops, something not in the book, and solve for the degrees of freedom using Grubler's formula. Make it something that exists or occurs in common experience, not necessarily a robot. Imagine using it to teach someone about Grubler's formula.

'''Class 2''' (F 9/22)
: Quick quiz
: Sample student lecture

At home:
: Videos: 2 videos on Chapter 2.3
: Reading: Chapter 2.3

'''Class 3''' (M 9/25)
: Quick quiz
: Bring your laptop, demo V-REP UR5 scenes
: Help with HW

At home:
: Videos: 2 videos, Chapter 2.4 and 2.5
: Reading: Chapters 2.4 and 2.5
: Turn in HW1

'''Class 4''' (W 9/27)
: Quick quiz
: Solutions to HW1; student examples of Grubler's formula

At home:
: Videos: first 3 videos of Chapter 3, through Chapter 3.2.1
: Reading: through Chapter 3.2.1
: '''HW2, due 1:30 PM 10/4''':
:: 1) Exercise 3.1, except the y_a axis points in the direction (1,0,0).
:: 2) Exercise 3.2, except p = (1,2,3).
:: 3) Exercise 3.5.
:: 4) Exercise 3.9.
:: 5) In Figure 1.1(a) of the book is an image of a UR5 robot, with a frame at its base and a frame at its end-effector. Eyeballing the end-effector frame, approximately write the rotation matrix that represents the end-effector frame orientation relative to the base frame. Your rotation matrix should satisfy the properties of a rotation matrix (R^T R = I, det(R) = 1). The x-axes are in red, the y-axes are in green, and the z-axes are in blue.
:: 6) Write a program that takes a set of exponential coordinates for rotation from the user as input. It then prints out the following: (a) the corresponding unit rotation axis and the angle of rotation about that axis; (b) the so(3) 3x3 matrix representation of the exponential coordinates; (c) the 3x3 SO(3) rotation matrix corresponding to the exponential coordinates; (d) the inverse of the rotation matrix from (c); (e) the 3x3 so(3) matrix log of the matrix from (d); and (f) the corresponding exponential coordinates for the so(3) matrix (e). Use the code from the book and write your program in Mathematica, MATLAB, or Python. Turn in your code and the output of an example run using (0.5, 1, 0) as the input to part (a).
:: 7) Write a function that returns "true" if a given 3x3 matrix is with a distance epsilon of being a rotation matrix and "false" otherwise. It is up to you to define the "distance" between a random 3x3 real matrix and members of SO(3). Test the function on two matrices, neither of which is exactly in SO(3), but one of which is close (so the result is "true") and one of which is not. Turn in your code and provide the test run output, which also outputs the distance to SO(3) that you defined.
:: 8) Following up on the previous exercise: describe (don't implement, unless you want to) a function that takes a "close by" 3x3 matrix and returns the closest rotation matrix. How would you use the fact that R^T R - I must be equal to zero to modify the initial 3x3 matrix to make it a "close by" rotation matrix? Would the function be iterative? You are free to do some research online, but as always, '''cite your sources'''!

'''Class 5''' (F 9/29)
: Quick quiz
: Lecture

At home:
: Videos: videos 4-6 of Chapter 3, through Chapter 3.2.3
: Reading: through Chapter 3.2.3

'''Class 6''' (M 10/2)
: Quick quiz
: Help with HW

At home:
: Videos: videos 7-9 of Chapter 3, Chapters 3.3.1 and 3.3.2
: Reading: same sections
'''Class 7''' (W 10/4)
: Quick quiz
: Exam prep

At home:
: Videos: videos 10-11, Chapter 3.3.3 and 3.4
: Reading: same sections
: '''HW3, due 1:30 PM 10/11''': Exercises 3.16, 3.17, 3.27, 3.31, and 3.48 (as always, for programming assignments, turn in your code and sample output demonstrating it).

'''Class 8''' (F 10/6)
: EXAM 1

At home:
: Videos: video 1 of Chapter 4, through Chapter 4.1.2
: Reading: same sections

'''Class 9''' (M 10/9)
: Quick quiz
: Help with HW

At home:
: Videos: videos 2-3 of Chapter 4, Chapter 4.1.3
: Reading: same sections
'''Class 10''' (W 10/11)
: Quick quiz
: Student lecture 1 (Pawar, Subramanian, Goyal, Cai)

At home:
: Videos: video 1 of Chapter 5, up to (not including) Chapter 5.1
: Reading: same sections
: '''HW4, due 1:30 PM 10/18''': Exercises 4.2, 4.8, 4.14, and 5.7(a). Question 5: In Chapter 3.5 (Summary), there is a list of analogies between rotations and rigid-body motions. Read it carefully and report anything that is either unclear or incorrect.

'''Class 11''' (F 10/13)
: Quick quiz
: Student lecture 2 (Wang, Wu, Xia, Zheng)

At home:
: Videos: video 2 of Chapter 5, Chapter 5.1.1
: Reading: same sections

'''Class 12''' (M 10/16)
: Quick quiz
: Help with HW

At home:
: Videos: videos 3 and 4 of Chapter 5, Chapter 5.1.2 through 5.2
: Reading: same sections
'''Class 13''' (W 10/18)
: Quick quiz
: Student lecture 3 (Wiznitzers, Hutson, Spies)

At home:
: Videos: videos 5 and 6 of Chapter 5, Chapter 5.3 and 5.4
: Reading: same sections
: '''HW5, due 1:30 PM 10/25''': Exercises 5.2, 5.3, 5.23, 5.25, 6.7, and 6.8.

'''Class 14''' (F 10/20)
: Quick quiz
: Student lecture 4 (Don, Chien, Husain, Sulaiman)

At home:
: Videos: videos 1 and 2 of Chapter 6,
: Reading: intro of Chapter 6 and Chapter 6.2

'''Class 15''' (M 10/23)
: Quick quiz
: Help with HW

At home:
: Videos: video 3 of Chapter 6
: Reading: Chapter 6.2
'''Class 16''' (W 10/25)
: Quick quiz
: Exam prep

At home:
: Videos: video 1 of Chapter 8, through 8.1.1
: Reading: same sections
: [[Media:ME449-HW6-2017.pdf|HW6, due 1:30 PM 11/1]]

'''Class 17 ''' (F 10/27)
: EXAM 2

At home:
: Videos: video 2 of Chapter 8, through 8.1.2
: Reading: same sections

'''Class 18''' (M 10/30)
: Quick quiz
: Help with HW

At home:
: Videos: video 3 of Chapter 8, through 8.1.3
: Reading: same sections
'''Class 19''' (W 11/1)
: Quick quiz
: Student lecture 5 (Zhang, Zhu, Meng, Luo)

At home:
: Videos: videos 4-5 of Chapter 8, through 8.2
: Reading: same sections
: '''HW7, due 1:30 PM 11/8''': Exercises 8.2, 8.3, 8.11 (you should build on the MR code), and 8.15(a).

'''Class 20''' (F 11/3)
: Quick quiz
: Student lecture 6 (Lyu, Yi, Wang, Swissler)

At home:
: Videos: video 6 of Chapter 8, up to (not including) 8.4
: Reading: same sections

'''Class 21''' (M 11/6)
: Quick quiz
: Help with HW

At home:
: Videos: video 7 of Chapter 8, Chapter 8.5 (skip 8.4)
: Reading: same sections
'''Class 22''' (W 11/8)
: Quick quiz
: Student lecture 7 (Warren, Kilaru, Wang, Mandana)

At home:
: Videos: videos 1-2 of Chapter 9, through Chapter 9.2
: Reading: same sections
: '''HW8, due 1:30 PM 11/15''': Exercises 8.15(b) (use your previous results from 8.15(a), and turn in any code you write as well as a V-REP movie of your simulation), 8.14 (turn in your testable code and evidence your code returns similar results), 9.14, and 9.26.

'''Class 23''' (F 11/10)
: Quick quiz
: Student lecture 8 (Wang, Dai, Ma, Peng)

At home:
: Videos: video 4 of Chapter 9, Chapter 9.4 - 9.4.1 (skip 9.3)
: Reading: same sections

'''Class 24''' (M 11/13)
: Quick quiz
: Help with HW

At home:
: Videos: videos 5-6 of Chapter 9, up to (not including) Chapter 9.5
: Reading: same sections
'''Class 25''' (W 11/15)
: Quick quiz
: Exam prep

At home:
: Videos: videos 1-3 of Chapter 11, up to (not including) Chapter 11.2.2.1
: Reading: same sections
: '''Final project. This project is part of the assignment grade, cannot be dropped, and has the weight of 2 normal assignments.''' The assignment is split into two parts: a relatively simple Part I, due after 1 week, followed by the programming-heavy Part II, due during finals week. You will receive a single grade for the entire assignment, after Part II has been submitted.
:: '''Part I, due 1:30 PM 11/22''': Exercise 13.33 (a) and (b). Turn in your solutions (handwritten or typed) and any code you wrote.
:: '''Part II, due 11:59 PM 12/6''': Exercise 13.33 (c), (d), and (e). Turn in 1) any solutions (handwritten or typed), 2) your code, 3) any plots you created with your code, 4) your short V-REP videos (made using the youbot csv animation scene), and 5) the .csv files corresponding to the videos.

'''Class 26''' (F 11/17)
: EXAM 3

At home:
: Videos: videos 4-5 of Chapter 11, Chapter 11.2.2.1 and 11.2.2.2
: Reading: same sections

'''Class 27''' (M 11/20)
: Quick quiz
: Help with HW

At home:
: Videos: videos 6-8 of Chapter 11, Chapter 11.3
: Reading: same sections
: '''Turn in Part I of your final project on Canvas.'''
'''Class 28''' (W 11/22)
: Quick quiz
: Student lecture 9 (Abiney, Aubrun, Anthony, Alston)

At home:
: Videos: videos 1-3 of Chapter 13, through Chapter 13.2
: Reading: same sections

'''Class 29''' (M 11/27)
: Quick quiz
: Help with HW

At home:
: Reading: odometry and mobile manipulation, Chapter 13.4 and 13.5
'''Class 30''' (W 11/29)
: Quick quiz
: Student lecture 10 (Miller, Berrueta, Davis, Tobia)

At home:
: Final assignment work

'''Class 31''' (F 12/1)
: Student lecture 11 (Fernandez, Lutzen, SaLoutos, Iwankiw)

At home:
: '''Your final project is due on Canvas by 11:59 PM on Wednesday Dec 6.'''

-->

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[[Mobile Manipulation Capstone 2021|Mobile Manipulation Capstone Project]]
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* [[ME 449 Robotic Manipulation (Archive Fall 2022)|ME 449 Fall 2022]]
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==Archive==
==Archive==
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* [[ME 449 Robotic Manipulation (Archive Fall 2019)|ME 449 Fall 2019]]
* [[ME 449 Robotic Manipulation (Archive Fall 2019)|ME 449 Fall 2019]]
* [[ME 449 Robotic Manipulation (Archive Fall 2020)|ME 449 Fall 2020]]
* [[ME 449 Robotic Manipulation (Archive Fall 2020)|ME 449 Fall 2020]]
* [[ME 449 Robotic Manipulation (Archive Fall 2021)|ME 449 Fall 2021]]
* [[ME 449 Robotic Manipulation (Archive Fall 2021)|ME 449 Fall 2021]]
* [[ME 449 Robotic Manipulation (Archive Fall 2021)|ME 449 Fall 2021]]
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Revision as of 09:29, 17 September 2023

Fall Quarter 2023


Supportive Class Environment

All members of this class (instructors, TAs, students) are expected to contribute to a respectful, inclusive, and supportive environment for every other member of the class.

We are partners in your education; help us help you get the most out of this class. Please engage as much as possible during our class meetings!

Honor Code

You are encouraged to discuss the material with the instructor, course assistants, and your classmates, but you are not allowed to share your answers or code with others. Anyone asking for answers or code, or providing answers or code, or becoming aware of others doing so without reporting to the instructor, is in violation of the honor code.


Getting Started

Do the following things as soon as possible:

Course Summary

Representations of the configuration and spatial motion of rigid bodies and robots based on modern screw theory. Forward, inverse, and differential kinematics. Robot dynamics, trajectory planning, and motion control. Wheeled mobile robots and mobile manipulation.

Prerequisites

Linear algebra, first-order linear ODEs, freshman-level physics/mechanics, a bit of programming background.

Grading

50% of your final grade will be from your Coursera grades (which I expect will be close to perfect) and 50% from the midterm and assignments outside of Coursera, including 15% midterm, 5% for asst 1, 5% for asst 2, 10% for asst 3, and 15% for asst 4 (the capstone project).

Course Text and Software

This course uses the textbook Modern Robotics: Mechanics, Planning, and Control, Kevin M. Lynch and Frank C. Park, Cambridge University Press 2017. If you find an error or typo in the book, please report it here.

Get the book, install and test the Modern Robotics code library, and install and test the CoppeliaSim robot simulator. You will program in Python, Mathematica, or MATLAB in this course.

Here is a linear algebra refresher appendix to accompany the book.

Approximate Syllabus and Schedule

Here is a summary of the structure of the course. All items are due 30 minutes before the associated class time (1:30 PM Central). The deadlines are controlled by Coursera, so do not be late! You may work ahead if you wish, but then you won't get as much out of the classes.

  • Before some classes, you should complete a quiz on earlier material.
  • Before most classes, you will watch the associated videos on Coursera and answer the "lecture comprehension" (LC) questions. (Designed to be relatively quick, to solidify your understanding.)
  • You are encouraged to read the corresponding portions of the textbook after watching the videos. I suggest you watch first, then read, then possibly re-watch, but you can determine what works best for your learning style.
  • During the class period after you watch those videos, I will typically summarize what we learned, work a problem, take any questions you have about the material, and possibly assign you a problem to work on.
  • There are two kinds of assessments on Coursera (Coursera refers to both of them as "quizzes"): "lecture comprehension" questions (LCs), which are short and immediately follow lectures, and summative quizzes, which are usually longer assessments/assignments occurring at the middle or end of a chapter.
  • Within Coursera there are also "discussion prompts," open-ended group questions that you should reply to (responses can be simple) and forums where you can post questions and reply to other students' questions.
  • Assignments outside Coursera will be submitted through Canvas.

Below is the approximate syllabus and schedule. Next to each date is the Coursera material that should have been covered at least 30 minutes before that class. "LC" refers to brief lecture comprehension questions that should be completed before that class, and "quiz" is a longer summative quiz on earlier material.

Chapter 2, Configuration Space

  • Wed Sept 20: welcome to the course and syllabus review; intro to Coursera. The schedule for completing Coursera items is set by this wiki!
  • Fri Sept 22: office hours; check for working CoppeliaSim implementation and summarize installation process for each OS; make sure Coursera invitation is accepted; material through Chapter 2.2 (3 videos and 2 LCs on dof of a robot) CLASS SLIDES
  • Mon Sept 25: course staff and office hours; meet the class; and material through Chapter 2.3 (quiz, Chapter 2 through 2.2; 2 videos and 2 LCs on C-space topology and representation) CLASS SLIDES
  • Wed Sept 27: finish Chapter 2 (2 videos and 2 LCs on configuration and velocity constraints, task space and workspace) CLASS SLIDES

Chapter 3, Rigid-Body Motions

  • Fri Sept 29: through Chapter 3.2.1 (quiz, Chapter 2.3 through 2.5; 3 videos and 3 LCs on rotation matrices SO(3)) CLASS SLIDES
  • Mon Oct 2: finish Chapter 3.2 (3 videos and 3 LCs on angular velocities, so(3), exponential coordinates) CLASS SLIDES
  • Wed Oct 4: asst 1 will be due Oct 14. New material: through Chapter 3.3.2 (quiz, Chapter 3 through 3.2; 3 videos and 3 LCs on transform matrices SE(3) and twists) CLASS SLIDES
  • Fri Oct 6: finish Chapter 3 (2 videos and 2 LCs on se(3), exponential coordinates, and wrenches) CLASS SLIDES

Chapter 4, Forward Kinematics (skip section 4.2 on URDF)

  • Mon Oct 9: finish Chapter 4 (quiz, Chapters 3.3 and 3.4; 3 videos and 3 LCs on product of exponentials formula, space and e-e frame) CLASS SLIDES

Chapter 5, Velocity Kinematics and Statics

  • Wed Oct 11: through Chapter 5.1 (quiz, Chapter 4; 3 videos and 3 LCs on space Jacobian, body Jacobian) CLASS SLIDES
  • Fri Oct 13: ASST 1, DUE 1:30 PM. New material: through Chapter 5.2 1 video and 1 LC on statics of open chains) CLASS SLIDES
  • Mon Oct 17: through Chapter 5.4 (2 videos and 2 LCs on singularity analysis, manipulability) CLASS SLIDES

Chapter 6, Inverse Kinematics (focus on section 6.2)

  • Wed Oct 18: Chapter 6 (quiz, Chapter 5; 3 videos and 3 LCs on numerical inverse kinematics) CLASS SLIDES

Chapter 8, Dynamics of Open Chains (skip sections 8.4, 8.7, 8.8, and 8.9)

  • Fri Oct 20: through Chapter 8.1.2 (quiz, Chapter 6; 2 videos and 2 LCs on Lagrangian dynamics) CLASS SLIDES
  • Mon Oct 23: New material: Chapter 8.1.3 (1 video and 1 LC on understanding the mass matrix) CLASS SLIDES
  • Wed Oct 25: MIDTERM, chapters 2-5 (no electronic devices allowed [calculator, laptop, tablet, etc.]; study sheets and book allowed) 2022 midterm and solutions (average score 22.9/32)
  • Fri Oct 27: Chapter 8.2 (2 videos and 2 LCs on dynamics of a single rigid body) CLASS SLIDES
  • Mon Oct 30: ASST 2, DUE 1:30 PM. Chapter 8.3 and 8.5 (2 videos and 2 LCs on Newton-Euler inverse dynamics, forward dynamics) CLASS SLIDES

Chapter 9, Trajectory Generation

  • Wed Nov 1: through Chapter 9.3 (quiz, Chapter 8 through 8.3; 3 videos and 3 LCs on point-to-point trajectories, polynomial via point trajectories) CLASS SLIDES
  • Fri Nov 3: Chapter 9.4 (quiz, Chapter 9 through 9.3; 3 videos and 3 LCs on time-optimal time scaling) CLASS SLIDES
  • Mon Nov 6: Chapter 9.4 recap.
  • Wed Nov 8: ASST 3, DUE 1:30 PM; final project discussion

Chapter 11, Robot Control (focus on sections 11.1 through 11.4)

  • Fri Nov 10: up to (not including) Chapter 11.2.2.1 (quiz, Chapter 9.4; 3 videos and 3 LCs on linear error dynamics) CLASS SLIDES
  • Mon Nov 13: finish Chapter 11.2.2 (2 videos and 2 LCs on first- and second-order error dynamics) CLASS SLIDES
  • Wed Nov 15: through Chapter 11.3 (3 videos and 3 LCs on motion control with velocity inputs) CLASS SLIDES
  • Fri Nov 17: Chapter 11.4 (quiz, Chapter 11 through 11.3; 3 videos and 3 LCs on motion control with torque or force inputs) CLASS SLIDES

Chapter 13, Wheeled Mobile Robots (skip section 13.3)

  • Mon Nov 20: FINAL PROJECT MILESTONE 2, DUE 1:30 PM; new material through Chapter 13.2 (quiz, Chapter 11.4; 3 videos and 3 LCs on omnidirectional wheeled mobile robots) CLASS SLIDES
  • Wed Nov 22: CLASS CANCELED
  • Mon Nov 27: Chapter 13.4 (quiz, Chapter 13 through 13.2; 1 video and 1 LC on odometry) CLASS SLIDES
  • Wed Nov 29: Chapter 13.5 (1 video and 1 LC on mobile manipulation) CLASS SLIDES
  • Fri Dec 1: wrap-up
  • Thurs Dec 7, noon: final project due

Practice Exercises

Sample exercises and their solutions, useful for practicing your understanding of the material.

Practice Tests


Assignments

As mentioned above, in the Honor Code: You are encouraged to discuss the material with the instructor, course assistants, and your classmates, but you are not allowed to share your answers or code with others. Anyone asking for answers or code, or providing answers or code, or becoming aware of others doing so without reporting to the instructor, is considered in violation of the honor code.

Assignments are graded based on correctness, how well you organize your homework (it should be easy to understand your thinking and easy to find your responses), and how well you follow the submission instructions below. You will lose points if you don't follow these instructions. If more detailed submission instructions are given with a particular assignment, make sure to follow those, too.

You will not receive credit if you just give an answer. Your solution must demonstrate how you got the answer. It must be easy to follow.

If you ever think a problem is stated incorrectly, not enough information is given, or it is impossible to solve, don't panic! Simply make a reasonable assumption that will allow you to solve the problem (but clearly state what this assumption is), or indicate why it is not possible to solve the problem.

Instructions for uploading assignments to Canvas:

  • Upload on time! Late submissions are not accepted.
  • For every assignment, you should upload exactly one pdf file, named FamilyName_GivenName_asst#.pdf. This pdf file should have answers to all the questions, including screen shots, text logs of code running, etc. Always include output of your code running on the exercises, so the grader can see what you got when you ran your code. You may scan handwritten solutions (provided they are neat!), but in any case, all answers should be in a single pdf file. DO NOT UPLOAD SCANS AS JPGS! THEY MUST ALL BE COMPILED INTO A SINGLE PDF FILE.
  • If required by the assignment, in addition you may be asked to provide a zip file including all source code in their original forms, such as .m, .py, or .nb. This zip file should be named FamilyName_GivenName_asst#.zip. Always create a script that the grader can easily invoke to run your code for a particular exercise. Don't expect the grader to search through your code to find sample code to cut-and-paste. Make it as easy as possible for the grader (you can include a "README.txt" file in your zip file, for example, to tell the grader how everything works). Your code should be commented well enough that it is easy for someone else to pick it up and understand more or less how it works.



Final Project: Mobile Manipulation

The final project is described on this page. It is due in Canvas on Thursday December 7 at noon.



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