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Graduate
Human-Robot Interaction
Guest Lecturer
This course introduces the fundamental theories of human-robot interaction, along with key research methodologies. The lecture topics include: (1) frameworks for human-robot teaming, (2) levels of autonomy, (3) human-robot interfaces for direct and supervisory control, (4) methods and metrics for evaluating interface usability, and (5) user study design. I delivered a lecture on "Human-Robot Interfaces for Future Healthcare Workers and Robots."
Humanoid Robotics
Teaching Assistant
This is a graduate-level course in humanoid robotics, covering the principles for enabling human-shaped robots to interact with their environment. Topics include manipulation, perception, locomotion, balance, coordination, control, interfaces, and human-robot interaction. I developed simulation environments for course assignments and projects.
Robot Control
Teaching Assistant
This course explores the interplay between control and robotics by introducing key theories and demonstrating practical applications. Course projects emphasize modeling, simulation, and practical implementation of control systems for robotic applications. I held office hours and provided feedback on course projects.
Motion Planning
Project Leader
This course covers motion planning algorithms and their applications in mobile robots and manipulator robots (arms and hands). Topics include search algorithms, combinatorial and sampling-based motion planning methods, manipulation and grasping planning, and path planning with non-holonomic constraints. The course also introduces methods for motion planning under uncertainty and learning from demonstration. I led three course projects.
Undergraduate
Unified Robotics: Manipulation
Lab Instructor | Co-Head Teaching Assistant
The focus of this course is on robotic arms and manipulation, specifically the coordinated motion of multiple actuators to perform complex tasks in physical space. This course study position and velocity kinematics and introduce fundamental concepts of robot dynamics. Additional topics include motion planning, trajectory generation, vision-based tracking, and error sources and propagation. The theoretical methods covered in lectures are applied in practical laboratory sessions, which culminate in the construction and programming of a 3-degree-of-freedom robotic manipulator. I taught lab sessions and organized TAs and SAs.
Unified Robotics: Navigation
Lab Instructor | Co-Head Teaching Assistant
The focus of this course is navigation, position estimation, and mapping. This course discuss concepts of forward and inverse kinematics, dead reckoning, and noise filtering. Robot Operating System is introduced and used to apply theory to real-world problems. This course also cover considerations for operating in challenging environments such as underwater, aerospace, and hazardous areas. Laboratory sessions are directed toward solving an open-ended problem throughout the term. I taught lab sessions and organized TAs and SAs.
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