| Spring 2009 Class activities and Lecture Notes |
1/12/09 - Intro, Syllabus, reviewing papers
- We discussed the
 class syllabus
- We also discussed robotics in general.
1/14/09 - Microcontroller and microcontroller development environments (plus these hand-written notes)
1/19/09 - Holiday- no class
1/21/09 - Discuss papers and Book Chapter 1:
1/26/09 - BEAM Robots and Microcontrollers
1/28/09 - Finish Microcontrollers notes, read the book, Chapter 2 and be prepared to discuss (quiz) Plus these hand-written notes
2/2/09 - Discussion of motors and lab 3
2/4/09 - Stepper motors
2/9/09 - Continued discussion on Chapter 2 and "Bionics"
2/11/09 - Ethics article and Chapter 3
- Read ethics article, Noel Sharkey, "The Ethical Frontiers of Robotics", Science, Vol. 322, pp. 1800-1801.
- Read and discuss Chapter 3, especially sensors and sensing.
- Plus these hand-written notes
2/16/09 - Read Chapter 4
2/18/09 - Exam 1
2/23/09 - Small Robots; Motor driver circuits
2/25/09 - DC Motor and Lab 4 discussion
3/2/09 - Snow day
3/4/09 - Design review and Robot Locomotion
- Review the motor driver design and be ready for a quiz on the design. FOR LAB 5, REFER TO THE DOCUMENTS IN THE LAB PAGE!!!
- Schematic
- Copper Large
- Copper Small
- Copper 4-up
- Silk Top
- Silk Bottom
- Plus these hand-written notes
- Consider these questions:
- How many transistors are there in the design
- How many extra wires (jumpers) do we need to add by hand.
- How many surface mount ICs are in the design
- Why are some traces on the board large, and others small?
3/9/09, 3/11/09 - No class, Spring break
3/16/09 - Pulse Width Modulation and Robot Locomotion
3/18/09 - Robot Locomotion
3/23/09 - Robot Locomotion
- Read the book, Chapter 7, pp. 203-225
- Read the book, Chapter 7, pp. 225-251
- Plus these hand-written notes
3/25/09 - Legged Locomotion
- Read Chapter 9, entire chapter. Type of quiz questions might be:
- What is the name for a 6-legged robot?
- What are the differences in stability and control of 4 versus 6-legged robots?
- List the types of mechanisms used to make legs move
- Plus these hand-written notes
3/30/09 - Arm Motion and Manipulation
- Read Chapter 10, entire chapter. Type of quiz questions might be:
- How many degrees of freedom does a human arm have? (Assume the had is just a paddle - no fingers. Include the wrist. Justify your answer)
- Design the simplest hand possible that can grasp a grape - how many degrees of freedom does it have?
- Plus these hand-written notes
4/1/09: Exam 2
4/6/09 - Lab day
4/8/09 - Lab day
4/13/09 - Control of Multiple Robots
- Read Chapter 12, entire chapter. Type of quiz questions might be:
- What are the possible methods to communicate between multiple robots?
- Define the difference between a swarm and a cooperative formation of robots? What can each of these groups of robots do?
- Plus these hand-written notes
4/15/09 - Control of Multiple Robots
4/20/09 - Guest lecture - Sharayu Gharankar plus robotics seminar playback (with quiz)
- Guest lecture - Sharayu Gharankar
4/22/09 - Lab day
4/27/09 - Localization, Navigation, and Mapping
- Read Chapter 14, entire chapter.
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| Spring 2009 Reference Notes and videos |
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Stepper motor wiki