Lectures:

•  A Compendium of all slides from all lectures 
  (An approximate course reader)
  • New! Revised: Compendium of Lecture Slide Sets (13 Sections — 467 Pages)
  • DRAFT: Part I: Kinematics + Dynamics of Robotic Motion & Sensing
  • DRAFT: Part II: (Stochastic) Modelling, Planning & Control of Robotic/Autonomous Systems
    

1. 27-Jul:  Introduction
   • Slides (PDF)
   • Video (Lectopia)
     
     
2. 3-Aug: Representing Position & Orientation & State
   (Frames, Transformation Matrices & Affine Transformations)
   • Slides (PDF)
   • Video (Lectopia)
     
     
3. 10-Aug: Ekka Day (Optional Robot Kinematics Review)
   • Slides (PDF)
   • Audio (M4A)
     
     
4. 17-Aug: Robot Inverse Kinematics / Kinetics
   • Slides (PDF)
   • Video (Lectopia)
     
     
5. 24-Aug: Robot Dynamics (Jacobians)
   • Slides (PDF)
   • Video (Lectopia)
   • Additional Reading:
     Chapters 4 (Jacobians) and 5 (Dynamics)
     from Khatib and Kolarov, Introduction to Robotics
     
     
6. 31-Aug: Robot Sensing: Perception & Linear Observers
   • Slides (PDF)
   • Video (Lectopia)
     
     
7. 7-Sep: Robot Sensing: Single View Geometry & Lines
   • Slides (PDF)
   • Video (Lectopia)
     
     
8. 14-Sep: Robot Sensing: Feature Detection
   • Slides (PDF)
   • Video (Lectopia)
   • Sample vl_SIFT Matching Matlab Codes
     
     
9. 21-Sep: Robot Sensing: Multiple View Geometry
   • Slides (PDF)
   • Video (Lectopia)
     
10. 5-Oct: Motion Planning
    
    • Slides (PDF)
    • Video (Lectopia)
    • Audio (Lectopia)
    • See Also: COMP3702 (AI): Lecture 4 and Tutorial 4
    • Recommended Reading:
      • Motion Planning Terminology List
      • LaValle, Motion Planning: The Essentials
      • Chapter 7 (Sampling-based planners), Choset, et al., Principles of Robot Motion.
        
        
11. 12-Oct: Probabilistic Robotics: Localization & SLAM
    • Slides (PDF)
    • Video (Lectopia)
      
      
12. 19-Oct: Probabilistic Robotics: Planning & Control
    • Slides (PDF)
    • Video (Lectopia)
    • Supplementary CHARM Tutorial
      (Guest Lecture by Josh Song)
      
      
13. 26-Oct: The Future of Robotics/Automation + Challenges + Course Review
    • Slides (PDF)
    • Video (Lectopia)
      
    
    

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@itee.uq.edu.au

Previous Courses: METR4202/7202 -- 2015  ||  METR4202/7202 -- 2014  ||  METR4202/7202 -- 2013  || METR4202/7202 -- 2012

© 2012-2016, Robotics Design Lab at The University of Queensland
This work is licensed under a Creative Commons License (BY-NC-SA)