- Graded HW's #4,5 and 6 will be distributed after the final. Good Luck!!
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March 9:
- Please note that this week's homeworkk deadline is a hard one. Solutions to HW's #5 and 6 will be available from 7.30pm on Wednesday (time of the first review session), so we CANNOT ACCEPT anything later than then. The solutions will also be available from this web page.
- Please note that this week's homeworkk deadline is a hard one. Solutions to HW's #5 and 6 will be available from 7.30pm on Wednesday (time of the first review session), so we CANNOT ACCEPT anything later than then. The solutions will also be available from this web page.
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March 4:
- The definitive time and place for the final: Monday March 16th, 3.30-6.30pm in 370-370.
- Homework #6 is handed out and due Wed March 11th. Also available form this page.
- Chapter 2 (Dynamics) and Chapter 3 (Control) are also handed out. These are NOT available from this page.
- Solutions to HW#4 are now in this page. They will be handed out next Monday during class.
- The definitive time and place for the final: Monday March 16th, 3.30-6.30pm in 370-370.
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March 2:
- Please be sure to sign up for one of the 2 Final Review Sessions on Wednesday March 11th and Thursday March 12th at 7.30pm at the Robotics Lab. Like last time, they will last approx 2 hours and there will be pizza and drinks to soften the blow. If you didn't sign up in class, send e-mail to the TA's.
- The Final is scheduled for Monday March 16th at 3.45pm in Gates B01. Note that the time and venue are still not definitive and might change.
- I have put the Midterm solutions in this page (see Handouts section). They're in the protected folder, so you will need the password to retrieve them.
- Please be sure to sign up for one of the 2 Final Review Sessions on Wednesday March 11th and Thursday March 12th at 7.30pm at the Robotics Lab. Like last time, they will last approx 2 hours and there will be pizza and drinks to soften the blow. If you didn't sign up in class, send e-mail to the TA's.
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Feb 25:
- Paul's office hours on Monday 1:30-2:30pm are permanently moved to Tuesdays. So his office hours now are Tuesdays 1:30-3:30pm.
- Homeworkk #5 is out and due Wednesday March 4th. You can download it from this page, in the Handouts section.
- Paul's office hours on Monday 1:30-2:30pm are permanently moved to Tuesdays. So his office hours now are Tuesdays 1:30-3:30pm.
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Feb 24: Arancha 's office hours today (Tuesday) have been moved to tomorrow (Wednesday) from 11-1pm. Paul has 2 hours worth of office hours today, 1.30-2.30pm and another hour as of yet unknown(!). You can e-mail him to find out: lim@sccm.stanford.edu, or call 723-2902.
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Feb 20: The grades for the midterm were overall very high, congratulations! Stats: average is 85%, standard deviation of 9, max grade: 100, min grade: 56. If your grade is well below the average, please see Professor Khatib (if your homework and final exam grades are good, we'll make your midterm count less).
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Feb 18: HW#4 is handed out and available from this page (due Wed Feb. 25th). Graded Midterms are returned.
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Feb 13:
- No homework out this week. HW#4 will be distributed next Wednesday (Feb 18th)
- Solutions to the midterm and graded midterms will be dirstributed next Wednesday also.
- No homework out this week. HW#4 will be distributed next Wednesday (Feb 18th)
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Feb 11: Graded HW#2's handed out. After class, they can be found in the folders outside Gates 118.
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Jan 28:
- The Midterm is on Monday Feb 9th, in-class, open notes/book.
- Two Midterm Review sessions will take place on Wed Feb 4 and Thur Feb 5th, from 7-9pm at the Robotics Lab, Gates 119. Be sure to sign up for *either* of these two.
- Homework 3 is handed out in class and also available in this web page.
- The deadline for Homework 2 is extended to Friday Jan 30 at 5pm.
- Solutions to Homework 1 are now in this page.
- The Midterm is on Monday Feb 9th, in-class, open notes/book.
Welcome to CS223a! The topics covered in this class are Spatial Descriptions, Forward Kinematics, Inverse Kinematics, Jacobians, Dynamics, Motion Planning and Trajectory Generation, Position and Force Control, Manipulator Design. Reccomended background: knowledge of matrix algebra.
The class consists of weekly homework assignments which will be distributed in class and due 7 days later. All homework will be graded. Anything handed in after 6pm on the due date will be penalized by 30% for each 24 hours of lateness. There will be no programming assignments. Homeworks count 30% of the final grade.
A n in-class midterm will be held on Monday February 9th during regular class time, worth 25% of the final grade. The final will take place on Friday March 20th from 12:15-3:15 pm at a location to be announced, it will count 45% of the final grade. Both examinations will be open book.
T he course is presented in a standard format of lectures, readings and problem sets. The required textbook is Introduction to Robotics: Mechanics and Control, John J. Craig, Addison-Wesley Publishing Company, 2nd Edition, 1989. Lectures follow roughly the same sequence as the text, so it can be read in anticipation of the lectures.
Some handouts, homeworks and their solutions will become available online as the course progresses. They will be posted in postcript format. Note that a password (to be announced in class) is needed to access the homework solutions.
- Handout #1
- Handout #2
- Homework #1
- Homework #1 Solutions
- Homework #2
- Homework #2 Solutions
- Homework #3
- Homework #3 Solutions
- Homework #4
- Homework #5
- Midterm Solutions
- Homework #6
- Homework #4 Solutions
NOTE: Hard copies of the handouts will also be available outside Arancha's office (Gates 118). Remember the Gates building is locked after 5pm and on weekends.
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Instructor: Oussama Khatib tel: 723 97 53 khatib@cs.stanford.edu MW 5:00-6:00 Gates 144 |
TA: Arancha Casal tel: 725 88 09 cas@cs.stanford.edu TTh 10:30-12:30 Gates 118 |
TA: Paul Lim tel: 723 29 02 lim@sccm.stanford.edu T 1:30-3:30 Gates 284 |
Y ou can still watch the class three ways:
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Watch it on the Web.
Instructions on how to set up your computer are on the Stanford Online web page.
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Watch it broadcast live on TV, Channel E2 (that's channel 54, I think). Check out the SITN web page or call them only if you're having trouble (725 3000).
- Watch the class video tapes on hold at Meyer library.
Here are a few related Stanford Robotics sites:
- Computer Science Robotics Lab
- Aerospace Robotics Lab
- Mechanical Engineering Dextrous manipulation Lab
any comments, questions?