CS287 Advanced Robotics
Some background in computational geometry and control theory is
essential and rather than assume this, the first few weeks will cover
the material we need. Topics include data structures, sweepline
algorithms, voronoi diagrams, convex hulls and linear programming,
duality, epsilon-nets, dynamics and model-based control. The core
topics that follow are (i) telerobotics and telesurgery, (ii) agents
and model-based vs. behavior-based architectures (iii) RISC and
minimalist designs for sensors and manipulators (iv) micro-robotics,
silicon motors, grippers, motion arrays and sensors (v)
nano-technology, SPMs, molecular pistons, Fullerenes, "lego" proteins.
Control and Dynamics
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