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Students ECE 818 : Robotics, Spring 2017
Bio
Publications Course Information
Presentations
Lectures: M/W 4:10 pm -5:30 pm, 1300 Engineering
CV
Building
Contact
Instructor:
Vaibhav Srivastava
1210 Engineering Building
vaibhav-at-egr.msu.edu

Office hours: Tu 4:30 pm - 6:00 pm

References

1. F. Bullo and S. L. Smith. Lectures on Robotic Planning

and Kinematics. available here (main text)
2. P. Corke. Robotics, Vision and Control: Fundamental
Algorithms in MATLAB. Springer, 2011.
3. M. W. Spong, S. Hutchinson, and M. Vidyasagar. Robot
modeling and control. New York: Wiley, 2006.
4. H. M. Choset et al. Principles of Robot Motion: Theory,
Algorithms, and Implementation. MIT Press, 2005.
Grading: Homework, 20%, Two take-home midterm, 25%
each, Final project, 30%

1. Homework assignments will be due on Wednesdays in

class by 4:10 pm and not accepted if late
2. You are welcome and encouraged to collaborate on
homework sets. However, please turn in work that
represents your own effort and understanding.
3. You may not collaborate on the midterm and the final
project.

Outline of Topics
1. Sensor-based planning
2. Motion planning via decomposition and search
3. Configuration spaces
4. Motion planning via sampling
5. Planning using potential fields
6. Rotation matrices and forward kinematics
7. Inverse kinematics
 8. Linear and angular velocity kinematics
9. Euler-Lagrange equations
10. Equations of motion for special robots
11. Force control
12. Additional advanced topics

Lectures and Homework

Week 1: Sensor-based Planning & Sweeping
Trapezoidal Algorithm
 January 9, 2017: Sensor-based Planning Slides
 January 11, 2017:Sweeping Trapezoidal
Algorithm Slides
 Reading Assignment: Bullo and Smith Chapter #1
 Homework Assignment: E1.1, E1.3, E1.4 from Bullo
and Smith
 Programming Assignment: E1.6 and E1.7 from Bullo
and Smith

Week 2: Motion Planning via Decomposition

and Search
 January 16, 2017: No Lecture (Martin Luther King, Jr.
Day)
 January 18, 2017: Motion Planning via Decomposition
and Search Slides
 Reading Assignment: Bullo and Smith Chapter #2
 Homework Assignment: E2.1, E2.2, E2.6 from Bullo
and Smith
 Programming Assignment: E2.8 from Bullo and Smith
 Bonus Problem: E1.8 from Bullo and Smith

Week 3: Configuration Spaces

 January 23, 2017: Configuration Spaces Slides
 January 25, 2017: Configuration Space Obstacles Slides
 Reading Assignment: Bullo and Smith Chapter #3
 Homework Assignment: E3.1, E3.2, E3.6, E3.7 from
Bullo and Smith
 Programming Assignment: E3.4 from Bullo and Smith

Week 4: Configuration Space Obstacles

 January 30, 2017: No Lecture
  February 1, 2017: Configuration Space Obstacles -
Numerical Computations Slides
 Reading Assignment: Bullo and Smith Chapter #4
 Homework Assignment: E4.2 from Bullo and Smith
 Programming Assignment: E4.3 from Bullo and Smith

Week 5: Configuration Space Obstacles

 February 6, 2017: Collision Detection Slides
 February 8, 2017: Motion Planning via Sampling Slides
 Reading Assignment: Bullo and Smith Chapter #5
 Homework Assignment: E5.2, E5.3 from Bullo and
Smith (due Wednesday, Feb 15)
 Programming Assignment: E4.4 from Bullo and Smith
(due Friday, Feb 24)

Week 6: Introduction to Kinematics and

Rotation Matrices
 February 13, 2017: Introduction to Kinematics and
Rotation Matrices Slides
 February 15, 2017: Rotation Matrices Slides
 Reading Assignment: Bullo and Smith Chapter #6
 Homework Assignment: E6.1, E6.3, E6.4 from Bullo
and Smith (due Wednesday, Feb 22)

Week 7: Three Angle Representation and

Axis-Angle Parametrization
 February 20, 2017: Composition of Rotations and Three
Angle Representation Slides
 February 22, 2017: Euler Angles and Axis-Angle
Parametrization Slides
 Reading Assignment: Bullo and Smith Chapter #7
 Homework Assignment: E7.1, E7.2, E7.6 from Bullo
and Smith (due Wednesday, March 1)

Week 8: RodriguesÕ Formula and

Displacement Matrices
 February 27, 2017: RodriguesÕ and Inverse
RodriguesÕ Formula Slides
 March 1, 2017: Displacement Matrices Slides
 Reading Assignment: Bullo and Smith Chapter #8
  Homework Assignment: E8.1, E8.2, E8.3 from Bullo
and Smith (due Wednesday, March 15)
 Project proposals are due on March 13 in class
 Midterm 1 will be assigned on March 20 in class and will
be due on March 22 in class

Week 9: Denavit-Hartenberg
Representation and Inverse Kinematics
 March 13, 2017: Introduction to Denavit-Hartenberg
Representation Slides
 March 15, 2017: Denavit-Hartenberg Convention and
Inverse Kinematics Slides
 Reading Assignment: Bullo and Smith Chapter #8,
Spong, Hutchinson, and Vidyasagar Chapter 3

Week 10: Velocity Kinematics and Jacobian

 March 20, 2017: Velocity Kinematics Slides
 March 20, 2017: Midterm Exam 1 assigned
 March 22, 2017: The Manipulator Jacobian Slides
 Reading Assignment: Bullo and Smith Chapter #9,
Spong, Hutchinson, and Vidyasagar Chapter 4

Week 11: Linear Algebra Review and

Jacobian Singularities
 March 27, 2017: Review of Linear Algebra Slides
 March 29, 2017: Singularities and Manipulability Slides
 Reading Assignment: Linear Algebra Review from
Linear System Theory and Design by C.T. Chen

Week 12: Euler-Lagrange Formulation

 April 3, 2017: Euler-Lagrange Equations Slides
 April 5, 2017: Euler-Lagrange Equations for
Manipulators Slides
 Reading Assignment: Spong, Hutchinson, and
Vidyasagar Chapter 7
 Final project presentations will be held in class on
Monday 24th and Wednesday 26th April
 Final Exam will be assigned on Monday May 1, 2017
and will be due of May 2, 2017
 Final Project report will be due by Friday May 5, 2017
midnight
Week 13: Newton-Euler Formulation and
Introduction to Feedback Control
 April 10, 2017: Newton-Euler Formulation Slides
 April 12, 2017: Actuator Dynamics and Feedback
Control Slides
 Reading Assignment: Spong, Hutchinson, and
Vidyasagar Chapter 6

Week 14: Feedforward and State Feedback

Control
 April 17, 2017: Feedforward and Control of Flexible
Joints Slides
 April 19, 2017: State Feedback Control Slides
 Reading Assignment: Spong, Hutchinson, and
Vidyasagar Chapter 6