Lectures:

1. 22-Jul:  Introduction
   


2. 29-Jul: Robot Kinematics: Frames, Transformation Matrices & Affine Transformations


3. 5-Aug: Robot Kinematics: Forward, Inverse & Differential Kinematics


4. 12-Aug: Robot Dynamics: Jacobians & Joint Torques
   • Additional Reading: Chapters 4 (Jacobians) and 5 (Dynamics) from Khatib and Kolarov, Introduction to Robotics
     


5. 19-Aug: Robot Sensing: Light, Color & Image Formation


6. 26-Aug: QUIZ


7. 2-Sept: Robot Sensing: Camera Calibration & Image Processing


8. 9-Sept: Robot Sensing: Feature Extraction


9. 16-Sept: Robot Sensing: Multiple View Geometry


10. 23-Sept: Probabilistic Robotics: Motion Planning

 
Mid-semester Break: (Sept 30-Oct 8)



11. 14-Oct: Probabilistic Robotics: Simultaneous Localization and Mapping - SLAM


12. 21-Oct: Course Review

References:

1. Peter Corke, Robotics, Vision and Control, 2013 — Online via SprigerLink
2. Richard Szeliski, Computer Vision: Algorithms and Applications, 2011 — Online via SprigerLink
3. Lung-Wen Tsai, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, 1999 — Available at UQ Library
4. Oussama Khatib and Krasimir Kolarov. Introduction to Robotics, 2006 — Video Lectures
5. Steven LaValle, Planning Algorithms, 2006 — Online via Author's Webpage
6. Richard Hartley and Andrew Zisserman, Multiple View Geometry in Computer Vision (2nd edition),  2004 — Available at UQ Library
7. Bernard Friedland, Control System Design: An Introduction to State-Space Methods, 1986 — Available at UQ Library

[Download all references in BibTeX]

Please refer comments & questions to: metr4202-staff@itee.uq.edu.au

Previous Courses:  METR4202/7202 -- 2017  ||  METR4202/7202 -- 2016  ||  METR4202/7202 -- 2015  ||  METR4202/7202 -- 2014  ||  METR4202/7202 -- 2013  || METR4202/7202 -- 2012
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This work is licensed under a Creative Commons License (BY-NC-SA)