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Robotics 311: How to Build Robots and Make Them Move

Yves points at a ballbot

ROB 311 is an undergraduate robotics course at the University of Michigan that introduces the fundamentals of mechanical design, control, fabrication, actuation, instrumentation, and computer interfaces required to realize robotic systems. Students will learn to analyze/simulate rigid body kinematics, kinetics, and dynamics, as well as assess the impedance properties of their designs.

This first iteration was offered in Fall 2022. The course is based around building a ballbot, which balances on a basketball to move around.

Lectures

All lecture videos are available on YouTube: ROB 311 Fall 2022 Playlist

If a lecture features additional files, those are located in lecture files.

Labs and hardware

Labs are based around the design and build of the ballbot, requiring certain hardware and access to machines, including 3D printer, laser cutter, and water jet.

The parts list (or see full bill of materials):

  • Raspberry Pi Pico
  • BlinkM led
  • 3 Pololu 37D gearmotors
  • 3 motor couplers
  • acrylic sheets
  • velcro strips
  • 6 omni wheel halves
  • 2 wired mouse
  • basketball

Note lab 1, a primer on soldering, is not included in this repository, and lab 5 is skipped.

Course Plan

Lecture Topic YouTube Assignments Due
1 Introduction to robot development Video
L1 Lab: Soldering
2 Motors, transmissions, & drivers I Video
3 Motors, transmissions, & drivers II Video
L2 Lab: Raspberry Pi's
4 Mechanical modeling Video
5 Modeling & design Video HW 1
L3 Lab: Solidworks
6 Thermal modeling Video
7 Manufacturing Video
L4 Lab: Lasercutting
8 Additive manufacturing Video
9 Subtractive manufacturing Video
L6 Lab: Ballbot assembly Ballbot assembled
10 Manufacturing best practices Video
11 Gears, screws & linkages Video
L7 Lab: Python
12 Full planar model Video HW 2
13 Torque conversion Video
L8 Lab: Closed loop control
14 Kinematic conversions Video
L9 Lab: Kinematics
15 Sensors Video HW 3
16 Digital communications Video
L10 Lab: Stability control
17 Omni wheels Video
18 Ballbot work session No lecture
L11 Lab: Outer velocity loop control
19 Review Video Midterm (not publicly available)
L12 Lab: Virtual environments
20 Control Video HW 4
21 Control loop structure Video
L13 Lab: Filtering data
22 Ballbot work session No lecture
23 Filtering data Video
L14 Lab: Ballbot work session HW 5
24 Steering control Video
25 Final competition

Credits

  • Elliott Rouse, Associate Professor, U-M
  • Yves Nazon
  • Senthur Ayyappan

For more