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CMPE-633: Topics in Robotics and Control

Fall 2011: Robot Dynamics and Control


Dr Abubakr Muhammad, Assistant Professor of Electrical Engineering

Email: abubakr [at]

Office: Room 9-309A, 3rd Floor, SSE Bldg

Office Hours:

Teaching assistant.

Course Details

Year: 2011-12

Semester: Fall

Category: Grad

Credits: 3

Elective course for electrical engineering, computer engineering and computer science majors

Course Website:

Course Description


A research-methods based course to study advanced topics in robotics and control system design with emphasis on field robotics, unmanned aerial and ground vehicles, planning algorithms, autonomous systems, telerobotics, Human Robot Interaction (HRI) and other related areas. The course prepares students to do independent work at the frontiers of robotics and control research.

This year

This course introduces essential concepts and analytical tools to understand the dynamics and associated control systems for common robot tasks such as manipulation, grasping and locomotion. Topics include forward and inverse kinematics; path planning, collision avoidance and trajectory generation; robot body and actuator dynamics; sensory feedback and trajectory tracking; stability, disturbance rejection and force control.


  • Introduce mathematical foundation of robot motion and control in a general setting.
  • Introduce ideas of configuration space, path planning and trajectory generation.
  • Teach use of geometric and dynamical models in robotics.
  • Highlight control theoretic issues in trajectory planning and sensory feedback.
  • Introduce practical applications of robotics in mobile manipulation tasks, tele-operation, automated assembly, manufacturing, home and service industry.


Grads. CMPE435 (Robotics ) OR CMPE432 (Feedback design) OR CMPE-633 (Fall 2011) OR permission of instructor Undergrads. EE361 (Feedback control) AND permission of instructor

Text book

The course will be taught from a combination of the following textbooks.

Primary Texts

Secondary Texts

Grading Scheme

  • Assignments: 20%
  • Midterm: 20%
  • Final Exam: 30%
  • Group Project: 30%
    • Proposal. 10%
    • Report. 20%
    • Presentation. 20%
    • Demo/working. 50%

Course Delivery Method

Lectures. Labs


Week 1. August 23

Lec 1. Introduction; robotics and autonomous systems; Lec 2. workspaces; configuration spaces; planning algorithms; bug algorithms; Bug0 and Bug1 algorithms;

Week 2. August 30
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