ME 115(a,b): Introduction to Kinematics and Robotics
Winter/Spring 2007-2008
Class Schedule
The class will be held MWF at 10:00-10:55 a.m. in Thomas 306.
T.A.: Jeremy Ma
- Email: jerma@caltech.edu
- Office: 310 Thomas
- Office Hours: Tues./THurs. 3-4 p.m., or by appointment
Course Information
- An Overview of the scope and format of ME 115 (in PDF Format)
- The homework page (where you can find copies of homeworks and solution sets)
- The handouts page (where you can find copies of material that
is distributed in class)
- Laboratory Exercises:
- ER1 Robot Lab Page
- Lab 1 is due on Monday, April 14, 2008
- Lab 2 is due on Friday, April 28, 2008
- ME 115(a) Final Projects:
- A copy of the Final Exam
Course Texts
The main course text is A Mathematical Introduction to Robotic
Manipulation , by Murray, Li, and Sastry. The text is often refered to
as "MLS". While the list of topics studied in this course will closely follow
the subjects in this text, we will not always strictly follow the
text. Thus, class attendence is wise.
A useful text for the second half of the course is: Planning Algorithms by Steve LaValle (UIUC).
You can buy this book
on-line at Amazon . Also, a preprint of the text
is available freely on-line .
This book provides a comprehensive summary of classical motion planning
theory. It also includes excellent reference material on information-space
approaches to planning, and evasion-pursuit algorithms (some of LaValle's
research). While these subjects are beyond the immediate scope of this class,
they accessible to interested students.
Other Possibly Useful Information
Questions and complaints should be addressed to:
jwb@robotics.caltech.edu