16-311 Introduction to Robotics
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Welcome to 16-311 Spring 2025!
Description:
 This course presents an overview of robotics in practice and research with topics including vision, motion planning, mobile mechanisms, kinematics, inverse kinematics, and sensors.

In course projects, students construct robots which are driven by a microcontroller, with each project reinforcing the basic principles developed in lectures. Students usually work in teams of three: an electrical engineer, a mechanical engineer, and a computer scientist. Groups are typically self-formed except for the first lab.

This course will also expose students to some of the contemporary happenings in robotics, including current robotics research, applications, and robot contests.
Who should take
this class:
 Sophomores, Juniors and Seniors interested in robotics. Before taking this class, students should have a thorough understanding of the concepts here: Prerequisite Knowledge.
Lecture policies:
 Students are not permitted to enter after class has started. Electronic devices are prohibited except for note-taking. Cell phone use during class is strongly discouraged.
Locations and times:
Lecture: Monday & Wednesday
2:00pm-3:20pm
GHC 4301
Gates Hillman Center
Labs: Labs will take place during lecture time on most Wednesdays (See the schedule tab for more info).
Lab demos will be in the Robotics Education Laboratory
Communication:
Email: 16-311-s25-tas (at) lists.andrew.cmu.edu
Piazza: Sign up here: S2025 Piazza page
Personnel:
Howie Choset
(Professor)

 choset (at) cs.cmu.edu
NSH 3205
Peggy Martin
(Howie's secretary)

 pm1e (at) andrew.cmu.edu
NSH 3207
Tanner Aikens (MechE)
(Head TA)

taikens@andrew.cmu.edu
TAs:
Varun Sureka (MechE)
John Kim (MechE)
Harry Huang (ECE)
Yiyun Wei (ECE)
Jose Voisin (MechE)
Shara Lawande (Robo)
Jeremy Shan (MechE)
Annanya Annanya (Robo)
Jeffery Cao (ECE)
Joshua Samulak (ECE)
Steve Herber (MechE)
Sophia Huang (ECE)
Thomas Chun Fai Lee (MechE)

vsureka@andrew.cmu.edu
johnkim3@andrew.cmu.edu
bohanhua@andrew.cmu.edu
yiyunwei@andrew.cmu.edu
jvoisin@andrew.cmu.edu
slawande@andrew.cmu.edu
qshan@andrew.cmu.edu
annanyaa@andrew.cmu.edu
zhexic@andrew.cmu.edu
jsamulak@andrew.cmu.edu
cherber@andrew.cmu.edu
zhixihua@andrew.cmu.edu
chunfai2@andrew.cmu.edu

Here, the color and letters following the student's name indicates their primary undergraduate major ((CS) indicates Computer Science, (ECE) indicates Electrical and Computer Science, (MechE) indicates Mechanical Engineering and (Robo) indicates Robotics). As you can see, this year the CS students have forsaken us (probably to TA for 16280).


Teams:
 Teams for the first lab are randomly assigned. The second lab is individual. Students will self-select their lab groups for the remainder of the labs. It is recommended that you select a member of each of the main majors represented in the course (CS, ECE and MechE). You are allowed to change groups, however it is difficult if you are the only group that needs a change in the class. Here is the team contract that will be signed upon the distribution of the LEGO Mindstorms kits:Team Contract.
Related Texts:
 There are no required textbooks for this course. But the following can serve as reference:

Robotics, Vision, and Control, Peter Corke, Springer, 2011.

Modern Robotics: Mechanics, Planning, and Control, Kevin Lynch and Frank Park, Cambridge University Press, 2017. ISBN: 9781107156302. Link.

Some Other Resources: a few other books to reference.
Assignments: 
 Assignments are posted on this website and will also be posted on Gradescope. Hard copies will not be distributed in class. Assignments are due on Gradescope at the specified dates and times. Late assignments will not be accepted for grading. Regrade requests can be submitted up to one week after grading and should be requested on Gradescope.

All group members must be present for demos. A student not present for the demo will receive a zero, unless under extreme circumstances.

Historically, students will have their lowest homework dropped if they submit every single assignment.
Labs:
 Self-paced collaborative lab projects will complement the weekly lectures of Introduction to Robotics. Whereas the lectures emphasize the underlying math and algorithms of each sub-discipline of robotics, the projects will emphasize the pragmatic facets of implementing robotic and mechatronic devices. The labs give students an education that go well beyond robotics into fields like control, embedded systems, programming, signal processing, interfacing, and electronics. Labs will primarily be implemented with MotorGo Plink and LEGO Mindstorm kits.
Grading:
 45% Labs
15% Homework
15% Midterm
20% Final
05% Participation
Lectures:
 No student may record or tape any classroom activity without the express written consent of Howie Choset. If a student needs to record or tape classroom activities, the student should contact the Office of Disability Resources to request an appropriate accommodation.
Health:
 This course is designed to give students an introduction to the principles and passion required in robotics. We realize that this requires a great deal of time and energy. As you know, your health comes first. Please reach out if you feel that you are becoming unhealthy. Here are some great resources: Highmark Center, CaPS, Mindfulness Room, Additional Campus Resources, and your course staff.
Last updated 1/20/2025 by Tanner Aikens
(c) 1999-2025: Howie Choset, Carnegie Mellon