This course considers robotic kinematics, including descriptions and rigid transformations, manipulator kinematics, inverse manipulator kinematics, Jacobians and singularities, trajectory generation, and introductory surveys of robotic vision, mobile robot motion planning and artificial intelligence.

• B. Goodwine
• Office: 367 Fitzpatrick
• Email: jgoodwin@nd.edu
• Office hours: Wednesdays, 7:00-9:00 pm, or by appointment.

• Marc Ma
• Office: B-22 Fitzpatrick
• Email: qun.ma.10@nd.edu
• Office hours: Tuesday 10:00-11:30

• Project Group Assignments
• Register for the course.
• Technology overview slides from the first day of class.
• View your grades.
• Syllabus January 18, 2000.
• Project group assignments.
• Preliminary Project Descriptions:
• Pick and Place Project (project 1).
• Puma Development Project (project 2). Two alternative drawings are available, the airfoil drawing or a curved object drawing. Here is the new drawing.
• Vision Project (project 3). Due Wednesday, May 3, 2000.
• Previous midterm exams: Fall, 1999and Spring, 1999. Note: for the Fall, 1999 exam, students had 3 hours to complete the exam as well as access to Mathematica during the exam.

• Homework 1, due January 27, 2000.
• Homework 2, due February 3, 2000. Solutions (3 pages, postscript, PDF).
• Homework 3, due February 17, 2000. Solutions (3 pages, postscript, PDF).
  Hint 1: to easily distinguish the different frames in the images, view the solutions on a computer useing ghostview or acroread, because on a computer monitor the frames will be illustrated in color.
  Hint 2: if you print the solutions, print the PDF version. The postscript file is so large that it takes a long time to print.
• Homework 4, due February 24, 2000. Solutions (3 pages, postscript, PDF).
  
• Homework 5, due March 3, 2000. Solutions (8 pages, postscript, PDF).
  
• Homework 6, due April 6, 2000. Sample code is available.
• Homework 7, due April 20, 2000.

• Wolfram Research
• A Brief Mathematica Primer

• A book, "Robot: Mere Machine to Transcend Mind" about the future of robots and the associated societal impact..
• Robot Books.com
• Vision-Based Robotics at Notre Dame.
• Robotic vision at Purdue.
• JPL Robotics, including the Mars Rover.
• MIT AI lab.
• PBS interview of Rodney Brooks on "human robots."
• The Robotics Institute at Carnegie Mellon University.