Robotics ENGR 3390 Spring, 2006

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RoboticsENGR 3390Spring, 2006
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Textbook
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Mech Eng 4K03 Robotics INSTRUCTOR Dr. Gary Bone,
JHE-326F (ext. 27591) or JHE-A104 (ext. 27537),
E-mail gary "at" mcmaster "dot"
ca PREREQUISITE Undergraduate course in Dynamics
(Eng 2Q04 or Mech Eng 2Q04).  Permission to take
the course without this prerequisite may be
granted under special circumstances.  Please
contact Dr. Bone. COURSE MATERIALS Course notes
by Dr. Bone will be made available. COURSE
OUTLINE 1.    INTRODUCTION2.    FORWARD
KINEMATICS3.    INVERSE KINEMATICS4.   
VELOCITIES, JACOBIANS AND SINGULARITIES5.   
DYNAMICS6.    STATICS7.    TRAJECTORY
PLANNING8.    INTRODUCTION TO ROBOT
PROGRAMMING9.    SENSORS AND ACTUATORS10.   
MACHINE VISION11.    OTHER TOPICS IN ROBOTICS
(TIME PERMITTING)12.    DEMONSTRATIONS
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What Well be DoingThe course will be run by
David Barrett and Gill Pratt, with help from
Brian Bingham and possibly Lynn Stein. This
course will be taught much like a graduate
seminar. The current plan is to cover the all the
bases1) Perception, Sensors, Computer
Vision. 2) Navigation and Localization.3)
Actuation and Manipulation.4) Mobility (walk,
swim, roll, crawl, fly).5) Intelligence
(control, planning and mission execution).The cou
rse will be built around the review and
discussion of seminal technical papers in the
robotics field, with guest lectures from the Olin
Faculty and from external leaders in the robotics
community.  The course will also include an
individual project done in simulation to help
solidify key concepts but will not include a
hardware or laboratory component.