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2.12 Introduction to Robotics

Prereq: 2.004, or 2.031 and 2.04A
U (Fall)
12 Units

Presents the fundamentals of robot mechanisms, dynamics, and controls. Planar and spatial kinematics, differential motion, energy method for robot mechanics; mechanism design for manipulation and locomotion; multi-rigid-body dynamics; force and compliance control, balancing control, visual feedback, human-machine interface; actuators, sensors, wireless networking, and embedded software. Weekly laboratories include real-time control, vehicle navigation, arm and end-effector design, and balancing robot control. Group term project requires design and fabrication of robotic systems. Students taking graduate version complete additional assignments.Enrollment may be limited due to laboratory capacity; preference to Course 2 majors and minors.

H. Asada, J. J. Leonard

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Subject meets with 2.120

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