Dimitris Samaras

Tue –Thu 6:50-8:10 2129 Computer Science

#### Course Description:

This course
introduces fundamental concepts in Robotics. In the first half of the course,
basic concepts will be discussed, including coordinate transformation,
kinematics, dynamics, Laplace
transforms, equations of motion, feedback and feedforward
control, and trajectory planning. These topics will be exemplified with Matlab/Simulink simulation studies. The second half of the
course will focus on applying the knowledge from the initial lectures to
various motor systems, including manipulators, artificial eye systems, locomotory systems, and mobile robotics. There will be homeworks for Matlab/Simulink and
a final project, a midterm and a final. This course is intended for graduate
students with interests in Robotics, Visual Computing, AI.
Advanced undergraduates with a demonstrated interesting Robotics are also
welcome. Prerequisites include a foundation in Linear Algebra and Calculus, and
the ability to program, preferably in C/C++.

Topics:

- Introduction
- Matrix Algebra Refresher
- Basic Linear Control Theory I
- Frequency Domain Analysis, Introduction to Matlab/Simulink
- Basic Linear Control Theory II
- Coordinate Transformations
- Direct Kinematics
- Dynamics: Lagrangian
Formulation
- Dynamics: Newton-Euler Formulation and Software Tools
- Inverse Kinematics
- Nonlinear Control
- Trajectory Planning
- Force Control
- Sensors & Actuators, Filtering
- Optimal Control
- Kalman Filtering
- Behavior-based
control
- Behavior
coordination

*Primary textbook:*

- J. J. Craig,
Introduction to robotics (Third ed 2003 Prentice
Hall).

*Additional recommended book:*

- L. Sciavicco,
B. Siciliano, Modeling and control of robot
manipulators (Springer Verlag 2000)
- Behavior-Based
Robotics by R. Arkin.

##### Grading:

There will be homeworks, a final
project, a midterm and a final exam. Homeworks will
be 35%, the project 30%, the midterm 15% and the final 20%. Weights are
approximate and subject to change. You are expected to do homeworks
(4 or 5) by yourselves. Even if you discuss them with your classmates, you
should turn in your own code and write-up. Final projects can be done by
one or two people. Two people projects will be scaled accordingly.

__Midterm date:__

__Final date:__

You can have one sheet of paper as in the midterm.

##### Contact info:

D. Samaras, Tel. 631-632-8464

email: samaras@cs.sunysb.edu

Office Hours: Tue., Wed 1:30pm
to 3pm, or by appointment

Computer Science room 2429