Course Weekly Lecture Plan

Week	Topic
1	Types of Robot Control Problems A. Platform i. Robotic Manipulators ii. Mobile Robots B. Kinematics and Dynamics i. Fully-actuated vs Underactuated ii. Holonomic vs. Nonholonomic Constraints iii. Rigid-body vs. Soft Robotics
2	Reference Frames A. Rotation Matrices B. Transformation Matrices, Homogeneous Transformations C. Angle-Axis, Quaternion Representations D. Inertial vs. Non-Inertial Frames E. Coriolis’ Theorem: Time Derivative of a Vector in a Rotating Frame
3	Forward Kinematics
4	Inverse Kinematics
5	Dynamics A. Lagrangian Dynamics B. Rigid Body Dynamics
6	Nonlinear Control A. Lyapunov Stability of Nonlinear Dynamics B. Trajectory Tracking C. Computed-Torque Control
7	Robust Control of Robotic Manipulators
8	Adaptive Control of Robotic Manipulators
9	Path and Trajectory Planning A. Motion Planning in Task Space B. Shortest Path Algorithms: Dijkstra’s, A* C. Polynomial Trajectory Generation in Joint Space
10	Sampling-based Motion Planning A. Probabilistic Roadmaps (PRM): Sampling-based Planning in Configuration Space B. Rapidly-Exploring Random Trees (RRT): Sampling-based Planning in State-Space, Kinodynamic Planning
11	Trajectory Optimization A. Optimal Control-based Trajectory Planning B. Receding Horizon Planning and Control (Model Predictive Control)
12	Dynamics with Kinematic Constraints A. Holonomic Constraints B. Nonholonomic Constraints: Mobile Robots
13	State Estimation A. Bayesian Filtering B. Kalman Filtering (Model-based) C. Sensor Fusion: IMU and GPS
14	Robot Localization A. Particle Filtering B. Robot Localization: Model-based/ Map-based (A Priori Available) C. Robot Localization with no a Priori Map. Brief Intro to Simultaneous Localization and Mapping (SLAM): i. Pose Estimation: ICP-based Point Cloud Registration ii. Pose Graph Optimization iii. Trajectory Estimation and Environment Mapping

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