| Date | Topic | Slides | Notes | Modern Robotics Chapter | RMC Book |
|---|
| Jan 10 | Course Overview; Motion Tasks | Introduction | | 1 | 1 |
| Jan 12 | Simulation using Julia; Alternatives | | Julia Tutorial | | |
| Jan 17 | Robots as powered mechanisms | Powered Mechanisms | | 2.1-2.3 | 1 |
| (self) | Affine Spaces | Euclidean Space | Notes Ch 1 | | |
| Jan 19 | Reference Frames & Coordinates; Coordinate/Rigid Body Transformations | Euclidean Space | Notes Ch 1 | 3.1 | 2.1 |
| Jan 24 | Coordinate/Frame Transformation; Homogenous Transformations | Homogenous Transformations | Notes Ch 1.5 | 3.3.1 | 2.2-2.6 |
| (self) | Forward Kinematics | FwdKin | Notes Ch 2.2, 2.3 | 4 | 3.1 |
| Jan 26 | Rotations | Rotations | Notes Ch 1.5 | 3.3.1 | 2.2-2.6 |
| Jan 26 | Jacobians | Velocities | Notes Ch 2.2, 2.3 | 5.1 | 4.6 |
| Jan 26 | Twists, Wrenches | TwistWrench | | 3.3 | - |
| (self) | Inverse Kinematics | InvKin | Notes Ch 2.2 | 6 | 3.2 |
| (self) | Velocity Kinematics | Velocities | Notes Ch 2.2, 2.3 | 3.3 | 4.1-4.5 |
| 2D Newton-Euler Dynamics | | Notes Ch 3.1 | 3.1 | 7.6 |
| 3D Newton-Euler Dynamics | | Notes Ch 3.1 | 8.2 | 7.6 |
| Euler-Lagrangian Dynamics | Dynamics | Notes Ch 3.2, 3.3 | 8.1, 8.4-8.5 | 7.1-7.4 |
| Newton-Euler Inverse Dynamics | | | 8.3 | 7.6 |
| Actuator Models | Actuation | Notes Ch 3 | 8.9 | 6.5 |
| Feedforward and Feedback Control | FF and FB | Notes Ch 4.1 | | |
| Independent Joint Control | IJC | Notes Ch 4.1 | 11.4.2.1 | 6 |
| Gravity Compensation | GravComp | Notes Ch 4.2 | | 8.1 |
| Inverse Dynamics Control | InvDyn | Notes Ch 4.2 | 11.4.2.2 | 8.2 |
| (self) | Properties of EL Dynamics | Dynamics | Notes Ch 3.4 | 8.1 | 7.5 |
| Robust and Adaptive Control | | Notes Ch 4.2.4,4.2.5 | | 8.3 |
| Passivity-Based Control | | Notes Ch 4.3 | | 8.4 |
| Force Control | | Notes Ch 4.4 | 11.5 | 9 |
| Contacts | | Notes Ch 4.4 | 11.6 | 9.1 |
| Hybrid Force-Position Control | | Notes Ch 4.4 | 11.6 | 9.3.3 |
| Impedance | | Notes Ch 4.5 | 11.7 | 9.2 |
| Hybrid Impedance Control | | Notes Ch 4.5 | 11.7 | 9.3.2 |
| Impedance Control | | Notes Ch 4.5 | 11.7 | 9.3.2 |
| Motion Planning | MP0, Search, MP1 | Notes Ch 5.1, 5.3, 5.4 | 10.3 | 5.2, 5.3 |
| Potential-based Methods | MP2 | Notes Ch 5.2 | 10.5 | 5.4 |
| Kalman Filtering | Probability, KF | | | |
| KF, SLAM | SLAM | | | |
| SLAM, Review | SLAM | | | |
| Brief: Optimal Control, RL | LQR | | | |
| | | | | |
| Feedback Linearization | | | | 10.2 |
| Grasping and Manipulation | | | - | |
| Wheeled Mobile Robots | | | 13 | 10.5 |