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, 5:00 - 7:00 pm.

- Zhe Fan
- Office: 357C Fitzpatrick
- Email: Zhe.Fan.2@nd.edu
- Office hours: Tuesdays, 4:30 - 6:00 pm.

- Mugi Lukito
- Office: 357C Fitzpatrick
- Email: Mugimin.Lukito.1@nd.edu
- Office hours: Mondays, 2:00 - 4:00 pm.

- Register for the course.
- Project Group Assignments
- View your grades.
- Syllabus
*January 17, 2001.* - Preliminary Project Descriptions:
- Pick and Place Project (project 1).
*Updated: January 19, 2001* - Puma Development Project (project 2). Two alternative drawings are available, the airfoil drawing or a flange drawing. Due, Wednesday, April 4, 2001.
- Vision Project (project 3). Due Wednesday, May 2, 2001.
- 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.
- Sample C code, illustrating an extremely simple use of Newton's method to compute the inverse kinematics of a planar two link manipulator.
- A Mathematica notebook file animating the motion of a two link planar robot along a path that passes near a singularity.
- A Mathematica notebook file used to compute the inverse kinematics of the PUMA 260 using Pieper's method.

- Homework 1, due January 24, 2001. Solutions (1 page, postscript, PDF).
- Homework 2, due January 31, 2001. Solutions (5 pages, postscript, PDF).
- Homework 3, due February 7, 2001. Solutions (4 pages, postscript, PDF).
*Hint:*viewing the solutions using ghostview or acroread will be better than printing since the frames will appear in color on the screen. If you print the solutions, print the PDF version -- it will print*much*faster. - Homework 4, due February 14, 2001.Solutions (9 pages, postscript, PDF).
*Hint:*viewing the solutions using ghostview or acroread will be better than printing since the frames will appear in color on the screen. If you print the solutions, print the PDF version -- it will print*much*faster. - Homework 5, due February 28, 2001. Solutions (9 pages, postscript, PDF).
- Homework 6, due March 28, 2001. Solutions (10 pages, postscript, PDF).
- Homework 7, due April 11, 2001.
- Homework 8, due April 27, 2001.
- Homework 9, due May 3, 2001.

- 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 show on robots.
- The Robotics Institute at Carnegie Mellon University.

B. Goodwine (