ROBT - Robotics

ROBT 330 Motion Planning

Motion planning is about computing the motions of one or several real or virtual objects in some workspace in order to achieve a goal-specified task, such as: going to location A in a given environment, building a map of this unknown environment, finding an object B in a given environment, assembling a product P from its separated individual parts, orienting a part by pushing on it. The purpose of this course is to present a coherent framework for solving motion planning problems, as well as a number of existing methods to solve specific problems. This presentation will use the concepts of configuration space and related spaces (state, control, motion, and information spaces) to formulate problems. It will use algorithms based on random sampling and cell decomposition to explore the connectivity of these spaces. Most of the methods presented will involve various forms of geometric computing (e.g., interference detection between objects, distance computation, space partitioning, shape matching, etc).

3

Prerequisites

PHYS 230 and PHYS 232

ROBT 350 Intermediate Robotics Lab

Intermediate Robotics Lab is a hands-on course where students delve into the fascinating world of robotics using state-of-the-art kits and systems available in the robotics laboratory. Through practical application and experimentation, students will explore the capabilities of robots such as Adeept RoboArms, Adeept RoboVehicles, and Quanser Self-driving Car Kit, implementing projects outlined in the kits' manuals. As the course progresses, students will advance to the final stage where they will unleash their creativity and design their own simple robots, fabricating and programming them from scratch. This course provides an ideal opportunity for students to expand their robotics expertise while nurturing their innovative problem-solving skills.

3

Prerequisites

CSIT 232 and PHYS 325 and PHYS 3274