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課程名稱 |
機器人學
Robotics |
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開課學期 |
108-1 |
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授課對象 |
電機資訊學院 資訊網路與多媒體研究所 |
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授課教師 |
傅立成 |
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課號 |
CSIE5047 |
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課程識別碼 |
922EU1070 |
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班次 |
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學分 |
3.0 |
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全/半年 |
半年 |
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必/選修 |
選修 |
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上課時間 |
星期一6,7,8(13:20~16:20) |
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上課地點 |
資101 |
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備註 |
本課程以英語授課。
限學士班三年級以上
總人數上限：80人 |
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Ceiba 課程網頁 |
http://ceiba.ntu.edu.tw/1081CSIE5047_Robot |
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課程簡介影片 |
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核心能力關聯 |
核心能力與課程規劃關聯圖 |
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課程大綱
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為確保您我的權利,請尊重智慧財產權及不得非法影印
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課程概述 |
This course will provide an introduction to the key issues involved in the development of intelligent robots. We will explore issues such as spatial transformation, kinematics, software control architectures, sensing, localization, and navigation. Evaluation will be through homework (which will often include programming), exams, and a final project. |
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課程目標 |
This course will provide an introduction to the key issues involved in the development of intelligent robots. We will explore issues such as spatial transformation, kinematics, software control architectures, sensing, localization, and navigation. Evaluation will be through homework (which will often include programming), exams, and a final project. |
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課程要求 |
Attendance: Class attendance will be part of your course grade.
Due Dates: All assignments must be turned in at the very beginning of class on the due dates for full credit. Assignments turned in after the due date will receive a late penalty on your final score.
Quiz: All quizzes will be in-class, and closed book exams.
Course Announcement: Important announcements, schedule revisions, etc., will be posted on the class website. You are responsible for checking these information at a regular interval. |
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預期每週課後學習時數 |
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Office Hours |
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指定閱讀 |
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參考書目 |
1.Introduction to AI Robotics, by Robin Murphy, MIT Press, 2000.(Textbook)
2.Autonomous Robots, by George A.Bekey, MIT Press, 2005.(Optional) |
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評量方式
(僅供參考) |
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週次 |
日期 |
單元主題 |
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Week 1 |
9/9 |
Introduction to Robotics |
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Week 2 |
9/16 |
Spatial Description and Transformation,
HW1 announcement |
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Week 3 |
9/23 |
Forward Kinematics of Robotic Manipulators |
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Week 4 |
9/30 |
Forward Kinematics of Manipulators
HW2 announcement |
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Week 5 |
10/7 |
Inverse Kinematics,
HW1 Due |
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Week 6 |
10/14 |
Inverse Kinematics
Mobile Robot Kinematics |
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Week 7 |
10/21 |
Quiz review
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Week 8 |
10/28 |
Computer Vision and Camera Model(1/2),
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Week 9 |
11/4 |
Quiz
Computer Vision and Camera Model(2/2)
HW2 Due |
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Week 10 |
11/11 |
Computer Vision and Camera Model
HW3 announcement |
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Week 11 |
11/18 |
Final Project Proposal |
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Week 12 |
11/25 |
Robot Sensing
Computer Vision and Camera Model
HW4 announcement |
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Week 13 |
12/2 |
Motion Planning
HW3 Due |
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Week 14 |
12/9 |
Final Project Progress Report, |
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Week 15 |
12/16 |
Motion Planning
HW4 Due |
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Week 16 |
12/23 |
Simultaneous Localization and Mapping (SLAM) |
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Week 17 |
12/30 |
Final Project Demo(1/2) |
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Week 18 |
1/6 |
Final Project Demo(2/2) |
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