Overview

This course presents the fundamentals of land-based robotic systems covering the areas of locomotion, manipulation, grasping, sensory perception, and teleoperation. Main topics include kinematics, dynamics, manipulability, motion/force control, real-time programming, controller architecture, motion planning, navigation, and sensor integration. Several Nomad mobile robots will be used for class projects. Military applications of robotic systems will be discussed.

Included in Degrees & Certificates

• 223
• 284
• 299
• 367
• 569

Prerequisites

• MA3042
• EC2300
• EC2320

Learning Outcomes

• To understand advantages and disadvantages of different types of robotic systems and platforms including wheeled robots, legged robots, and other types of robots.
• To learn methods for representing position and orientation, coordinate. systems, rotation matrix, homogeneous transformation, and quaternion.
• To learn robotic kinematics and inverse kinematics.
• To understand motion planning strategies and algorithms.
• To understand localization and mapping techniques and algorithms.
• To learn coordinated control algorithms for distributed autonomous robots.
• To gain insight into the latest trends in research and development in robotics.