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Computational Robotics ENSC 887 (3)

A main goal of computational robotics is to automatically synthesize robot motions to achieve a given task. This course discusses geometric and algorithmic issues that arise in such an endeavour. For example: how can a robot plan its own collision-free motions? How does it grasp a given object? How do we account for uncertainty? The course employs a broad range of tools from computational geometry, mechanics, algorithms and control. The material covered also finds applications in designing devices for automation and in computer animation. The course involves a substantial project which exposes students to practical and implementational issues involved in building automatic motion planning capabilities for robotic systems. Prerequisite: ENSC 488 and a basic course in data structures and algorithms, or permission of the instructor.