Daniel M. Lofaro Ph.D

George Mason University
Electrical and Computer Engineering Dept.
4400 University Drive, MSN 1G5
Fairfax, VA 22030, USA
1-703-993-5459
dlofaro@gmu.edu
dan@danlofaro.com

IEEE-RAS Humanoids 2012

ECE 499/590/699

This course introduces you to robot architecture including mechanical design philosophies, electrical design philosophies and controller design. Assignments are heavily based in simulation culminating with a term project which can/should include a hardware demonstrations. majority of simulations and labs will be preformed in the Linux environment using Ubuntu 12.04 LTS. Bringing your own computer to class is highly recommended. A brief week-by-week description of the course is listed below (subject to change).

Book

Title: Handbook of Robotics (Springer)
Editors: Bruno Siciliano Prof., Oussama Khatib Prof.
ISBN: 978-3-540-23957-4 (Print) 978-3-540-30301-5 (Online)
or
Title: Robotics, Vision and Control: Fundamental Algorithms in MATLAB (Springer Tracts in Advanced Robotics)
Author: Peter Corke
ISBN-10: 3642201431, ISBN-13: 978-3642201431

Schedule

  • Week 1: Introduction to simple robotics 1-DOF, 2-DOF and 3-DOF systems
  • Week 2: Sensors
  • Week 3: Lab 1: Obstacle avoidance
  • Week 4: Literature Review 1 and Midterm 1 Review
  • Week 5: Midterm 1
  • Week 6: 6-DOF and 7-DOF systems
  • Week 7: Introduction Computer Vision
  • Week 8: Lab 2: Peg-in-hole and/or Button Press
  • Week 9: >7-DOF (High DOF) systems
  • Week 10: Literature Review 2 and Midterm 2 Review
  • Week 11: Midterm 2
  • Week 12: Introduction to Humanoid Robotics
  • Week 13: Lab 3: Implementation on Humanoids
  • Week 14: Term Project Presentations and Demonstrations
  • Week 15: Final

Grading Policy

Assignments/Homeworks 10%
Labs 8.3% each
Term Project 10%
Literature Review 5%
Midterms 15% each
Final 20%

Lateness Policy

All assignments up to 24 hours late will receive 50% of the achieved score. All assignments >24 hours late will not be accepted.



 
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