Introduction and overview

Please note that some details regarding the course may change up until the first lecture, and that additional information will be added to this Canvas site.

Read the corona-related information here (May change before course starts!)
Currently, we expect the lectures to be carried out in a hybrid fashion, with the possibility to either follow them online in Zoom, or live in the lecture hall on campus. Note that this may change with very short notice, so stay updated.

This course is a very wide introduction to robotics. It will cover the mechanics of mobile robots and manipulators, robot hardware and software, and algorithms and methods for kinematics, control, navigation and planning. It serves to give general understanding of robotics as a field of study, and provide a foundation for further studies of the different included topics in greater depth in other, more specialized courses.

The course consists of lectures, lab assignments, and a wide selection of reading materials. The course is examined with 4 smaller assignments and a larger project (LAB1), and a written exam (TEN1). The final grade is determined by the performance on the practical assignments, LAB1, while the exam TEN1 is pass/fail.

In accordance with current rules and recommendations, lecture halls have limited capacity. In order to not overfill the halls, all lectures will also be available via Zoom.

Zoom  link to Lectures: https://kth-se.zoom.us/j/66224122424  Links to an external site.

Links for lab presentations can be found here.

Preliminary schedule for lecture topics:

Sept 02 - 1. Intro, Course fundamentals, Topics, What is a Robot, History, Applications.

Sept 03 - 2 ROS Introduction (Scheduled as lab, will be in zoom, link TBA)
Sept 03 - 3  Manipulators, Kinematics
Sept 06 - 4. Differential kinematics, dynamics
Sep 08 - 5. Actuators, sensors I (force, torque, encoders, ...)
Sep 13 - 6. Grasping, Motion, Control

Sep 15 - 7. Planning (RRT, A*, ...)
Sep 20 - 8. Behavior Trees and Task Switching

Sep 22 - 9. Mobility and sensing II (distance, vision, radio, GPS, ...)
Sep 27 - 10. Localisation (where are we?)
Sept 29 - 11. Mapping (how to build the map to localise/navigate w.r.t.?)
Oct 04 - 12 - Navigation (how do I get from A to B?)

Oct 06 - Q/A - Open questions to your teachers (from 13:15).