2022-1 Intelligent Robotics

In this Lecture, we will be learning about various topics in Robotics, that I think is important to know to become a roboticist. We will be starting off by learning about Kinematics and Dynamics of an open-loop kinematic chain such as a humanoid robot. Then, we will move on to other topics such as SLAM, path planning, and navigation methods as well as very recent learning-based methods in Robotics including visual Navigation, model learning, and perceptive manipulation. Let's have some fun in Robotics. :)

Syllabus

• Week 1 (3/3): Course Introduction
• Week 2 (3/10): Kinematics (Coordinate Transform)
• Week 3 (3/17): Kinematics (Lie Algebra, Rodriques' formula, Construction Kinematic Chains)
• Week 4 (3/24): Kinematics (FK and IK)
• Week 5 (3/31): Kinematics (Null-space IK, Augmented Jacobian, URDF)
• Week 6:(4/7): Good-Old-Fashioned Path Planning
• Week 7:(4/14): Interlim Presentation 1 (paper review)
• Week 8:(4/21): Interlim Presentation 2 (paper review)
• Week 9:(4/28): Motion Retargeting
• Week 10 (5/5): Estimation Theory in a Nutshell (Kalman Filter)
• Week 11 (5/12): Sensor-based SLAM
• Week 12 (5/19): Vision-based SLAM
• Week 13 (5/26): Invited Talk: Real-World Manipulation (Seongyong Koo@pickit3d)
• Week 14 (6/2): Invited Talk: Visual Navigation (Nuri Kim@SNU RLLAB)
• Week 15 (6/9): Pick-and-place Rehearsal
• Week 16 (6/16): Pick-and-place Contest

This syllabus is subject to further change or revision, as needed, to best realize the educational goals of the course.