The purpose of this course is to introduce you to basics of modeling, design, planning, and control of robot systems. In essence, the material treated in this.

CS223A — Introduction to Robotics Winter Quarter 2014 Instructors Prof. Oussama Khatib This e-mail address is being protected from spambots.

You need JavaScript enabled to view it Room Gates 144 Office hours: Mon/Wed 4:00–5:00pm Dr. Torsten Kroeger This e-mail address is being protected from spambots. You need JavaScript enabled to view it Room Gates 122 Office hours: Mon/Wed, 4:00–5:00pm Assistants Luke Allen Office hours: Mon 11:40 - 12:40 Chen Bai Office hours: Fri 11:00 - 12:00 Gerald Brantner Office hours: Tue 9:45 - 10:45 Xiyang Yeh Office hours: Tue 2:30 - 3:30 Office hours location: Room: Gates 120 (Fishbowl) Lectures Gates B01 Mon, Wed, 12:50-2:05pm Announcements • Mar 12: The final examination will take place in on Wednesday, March 19, from 8:30-11:30am.

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Please be onsite at 8:20am! This is an open-book examination. • Feb 24: All handouts are now available as pdf files and as png files. • Feb 6: We will hold exta office hours today from 4-6pm in addition to the usual 11-12 slot.

• Feb 5: The midterm examination will take place in the on Monday, February 10, 12:50-2:05pm. Please be onsite at 12:40pm! This is an open-book examination. • Feb 3: HW1 and HW2 are graded and may be picked up in front of Prof. Khatib's office. • Jan 13: Office hours updated (see above).

• Jan 6: We will use, an online collaboration tool during the quarter. Please sign up and enroll in 'CS 223A'.

• Jan 5: The course reader is available at the Stanford Bookstore. • Jan 5: The office hours will be conducted in room 120. If the room is occupied, the TAs can be found at the lab space outside of the room. • Jan 5: To view the lecture online, login at the • Jan 5: Welcome to an exciting new quarter!

The purpose of this course is to introduce you to basics of modeling, design, planning, and control of robot systems. In essence, the material treated in this course is a brief survey of relevant results from geometry, kinematics, statics, dynamics, and control. The course is presented in a standard format of lectures, readings and problem sets. There will be an in-class midterm and final examination. These examinations will be open book.

Lectures will be based mainly, but not exclusively, on material in the Lecture Notes book. Lectures will follow roughly the same sequence as the material presented in the book, so it can be read in anticipation of the lectures Topics: robotics foundations in kinematics, dynamics, control, motion planning, trajectory generation, programming and design. Prerequisites: matrix algebra. Khatib, Oussama Khatib's current research is in human-centered robotics, human-friendly robot design, dynamic simulations, and haptic interactions. His exploration in this research ranges from the autonomous ability of a robot to cooperate with a human to the haptic interaction of a user with an animated character or a surgical instrument. His research in human-centered robotics builds on a large body of studies he pursued over the past 25 years and published in over 200 contributions in the robotics field. Khatib was the Program Chair of ICRA2000 (San Francisco) and Editor of ``The Robotics Review' (MIT Press).