EE 437/547 Robotics and Sensing

     
  • Outline
  • Grading
    •   

    Outline

      1. Robot Arms (Manipulators)
    • robot arm kinematics (forward kinematics, inverse kinematics)
    • robot arm dynamics
    • trajectory planning
     2. Sensing Systems
    • Range Sensing
                  time-of-flight (ultrasonic, laser-based)
                  triangulation (stereo disparity, active triangulation, active stereoscopic)
                  structured light
                  known target size
                  optical flow
    • Proximity Sensing
                 (magnetic, capacitive, ultrasonic, optical, microwave)
    • Tactile (Touch) Sensing
                 (binary sensors, analog sensors, tactile feelers, tactile bumpers, distrubuted surface arrays)
    • Force and Torque Sensing
                 elements of a wrist sensor
                 resolving forces and moments
                 sensor calibration
    • Dead Reckoning
                 odometry
                 Doppler sensors
                 inertial navigation systems (INS)
    • Heading Sensors
                 gyroscopes
                 geomagnetic sensors
                 active beacons
                 sensors for map-based positioning
     3. Mobile Robots
    • map building
    • path planning
    • navigation
    • obstacle avoidance
    • target identification
    • target tracking

    Grading

    Midterm Exam 30%
    Final Exam 35%
    Survey Presentation and Report 25%
    Homework 10 %

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    Last updated: December 14,  1998