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: Tuesdays, 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

- Yejun Wei
- Office: 321 Cushing
- Email: ywei@nd.edu
- Office hours: Tuesday 2:00-3:00

- Final Exam Statistics (1 page Postscript pdf).
- Midterm Exam Statistics (1 page Postscript pdf).
- Redundant manipulator mathematica animations.
- Register for the course.
- Technology overview slides from the first day of class.
- View your grades.
- Syllabus
*January 13, 1999.* - Reserve the lab for your project.
**Remember:**you can only reserve the lab for up to 3 hours per day. - Project group assignments.
- Preliminary Project Descriptions:
- Pick and Place Project (project 1). Grade statistics (postscript, PDF).
- Puma Development Project (project 2). Sample code is available.
- Vision Project (project 3).
- The midterm exam from last semester (10 pages postscript, PDF).
**Note:**this was an exam for which students had up to 3 hours to complete. This semester, the exam will be in class,*i.e.,*only 50 minutes, so it will be shorter. - The final exam from last semester (10 pages postscript, PDF).
**Note:**this semester we did not cover the material for the last problem.

- Homework 1, due January 27, 1999. Solutions (3 pages, postscript, PDF). Statistics (postscript, PDF).
- Homework 2, due February 3, 1999. Solutions (9 pages, postscript, PDF).
*Updated*February 25, 1999. Statistics (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 3, due February 17, 1999. Solutions (8 pages, postscript, PDF). Statistics (postscript, PDF).
- Homework 4, due February 24, 1999. Partial solutions (8 pages, postscript PDF) and the mathematica notebook for problem 2. Statistics (postscript, PDF).
- Homework 5, due March 19, 1999. Solutions (8 pages, postscript, PDF).
- Homework 6, due March 31, 1999. Solutions (3 pages, postscript, Mathematica notebook).
- Homework 7, due April 14, 1999.
- Homework 8, due April 21, 1999.
- Homework 9, due April 28, 1999.

- 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.

Bill Goodwine (