METR 4202: Advanced Controls & Robotics

Welcome to METR 4202/7202 -- Robotics & Automation 2019

Overview:

This course teaches the fundamentals of autonomous systems design and control -- including robotic systems analysis, synthesis. The first part of this course will cover select mathematical techniques of Homogeneous transformations, serial (open-chain) kinematics, multi-body dynamics, state-space control, and vision as they pertain to solving complex geometrical problems seen in calculating the correct positions and speeds to drive the robot motors in order to move the arm in the desired manner. The latter parts of this course discuss the design of controllers using state-space and adaptive control techniques.

The goal, as explained in our recent paper, is to be able to understand keywords in the robotics domain and, in particular, be able to interpret an abstract from a paper in a major robotics conference, such as ICRA or RSS.

Additional information can be found on the Courses & Programs listing and in the Course Profile (for METR4202 and METR7202).

Newsgroup & Class Forum:

Discussion and Q&A are on Piazza [METR4202].
To make it easier to find threads, we kindly ask that posts use [subject line] [tags].

Note that: UQ only materials and course grades are on UQ e-Learning. (Please log-in for full course materials and details)

Assignments, Laboratories & Due Dates:

Problem Set 1 (15%): Kinematics: First Impression
- Published: Jul/29/2019
- Due: Aug/23/2019 11:59pm
- Note: To be done individually please!
QUIZ
- Aug 26 2-4pm
Problem Set 2 (20%): Sensing & Perception
- Published: Sep/3/2019
- Due: Sept/20/2019 11:59pm Sample Image Library
  - Sample Image Library [Large ZIP File!]
  - Additional Sample Image Library [ZIP File]
- Note: To be done individually please!
Problem Set/Laboratory 3 (50 %) -- Capture the flag
- Demo date: 11am-12am Oct/25/2019 (Axon 104)
- Demo date: 10am-2pm Nov/15/2019 (Axon 104)
- Teams
- Schedule
- Camera Quick Start Guide
- Python examples and module
- Pictures from Demo Day 2018

For METR7202 Only: Research Paper in Robotics

Schedule & Locations:

Lectures:
- Mondays from 2:05 pm -- 3:50 pm in 24-S402

Prac (Lab) Sessions:
- Wednesday: from 9:00 am -- 11:50 am [Staring Week 2]
- in: Axon -- Room 104 -- Axon Learning Lab

Tutorials:
- Friday from 11:00 am -- 11:50 am [Staring Week 2]
- in: Axon -- Room 104 -- Axon Learning Lab

References/Textbooks:

Robotics, Vision & Control
by Peter Corke
Available for sale from Amazon -- Also available for online reading via SpringerLink
UQ Library eBook: 364220144X

Platypus² _Beta:

An open, online assignment submission system supporting peer assessment that randomizes on a per-question, as compared to a per assignment, basis. (concept sketch)

Links / Resources:

Contact Information:

Please e-mail us at: metr4202@itee.uq.edu.au
Unit Coordinator: Anders Eriksson -- GP South (Bldg. 78), Office 650 -- x52379

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

Previous Courses: METR4202/7202 -- 2017 || METR4202/7202 -- 2016 || METR4202/7202 -- 2015 || METR4202/7202 -- 2014 || METR4202/7202 -- 2013 || METR4202/7202 -- 2012
© 2012 - 2018, Robotics Design Lab at The University of Queensland
This work is licensed under a Creative Commons License (BY-NC-SA)