This course covers advanced foundations and principles of robotic manipulation; includes the study of advanced robot motion planning, task level programming and architectures for building perception and systems for intelligent robots. Autonomous robot navigation and obstacle avoidance are addressed. Topics include computational models of objects and motion, the mechanics of robotic manipulators, the structure of manipulator control systems, planning and programming of robot actions. Components of mobile robots, perception, mechanism, planning and architecture; detailed case studies of existing systems.
This course will be largely project-based. Class time will be composed of a lecture, discussion time, student presentations and/or time to work on projects. There is no assigned textbook for this course, but lecture notes will be provided online.