Lectures

Each lecture opens as slides in the browser, with its demos built in. Lectures are added here as they are posted.

  1. Lecture01

    Course Overview

    What makes a robot assistive, who it serves, and how this course runs: prototypes in simulation and on the TurtleBot 4, the PincherX 100, and the UR12e.

    Slides coming soon
  2. Lecture02

    Assistive Robots and the People They Serve

    Mobility, manipulation, and social assistance; designing with users, caregivers, and clinicians, and what makes an assistive robot accepted.

    Slides coming soon
  3. Lecture03

    Sensing People

    Cameras, depth sensors, and IMUs on and around the user: tracking pose, gestures, and motion reliably enough to act on.

    • Gesture teleoperation
    • Human pose from a depth camera
    • Fall detection from an IMU
    Slides coming soon
  4. Lecture04

    Assistive Mobility

    Smart wheelchairs and guide robots on the TurtleBot 4: shared control between the user and the autonomy.

    • Shared control for a wheelchair
    Slides coming soon
  5. Lecture05

    Assistive Manipulation

    Fetching, handing over, and feeding with the PincherX 100 and UR12e: reach, grasp, and kinematics around a person.

    • Reach and grasp with a PincherX 100
    Slides coming soon
  6. Lecture06

    Safety and Human-Robot Interaction

    Working next to people: speed and separation monitoring, force limits, and how to evaluate a robot with its users.

    • Safe speed near people
    Slides coming soon
  7. Lecture07

    [[ LECTURE TITLE ]]

    [[ ONE SENTENCE ON WHAT THE LECTURE COVERS ]]

    • [[ DEMO NAME ]]
    Slides coming soon

More lectures will appear here as they are converted.

Interactive demos

Every demo opens as its own short page and runs the same Python script used in class, in the browser, with no install.

Gesture teleoperation

Drive a simulated arm with your hand: tracked hand landmarks become target poses, with smoothing and a dead zone so a tremor does not move the robot.

Demo coming soonRuns [[ SCRIPT ]].pyLecture 03

Human pose from a depth camera

See body keypoints from a depth image and read joint angles, such as the elbow angle during a rehabilitation exercise.

Demo coming soonRuns [[ SCRIPT ]].pyLecture 03

Fall detection from an IMU

Play recorded accelerometer data from a wearable, set the impact and stillness thresholds, and count the falls caught and the false alarms.

Demo coming soonRuns [[ SCRIPT ]].pyLecture 03

Shared control for a wheelchair

Blend the user’s joystick with obstacle avoidance, and slide the level of autonomy from full user control to full assistance.

Demo coming soonRuns [[ SCRIPT ]].pyLecture 04

Reach and grasp with a PincherX 100

Pick a target on the table and see whether the arm can reach it, the joint angles it needs, and where its workspace ends.

Demo coming soonRuns [[ SCRIPT ]].pyLecture 05

Safe speed near people

Move a person toward a UR12e and watch the protective separation distance and the allowed speed change as they get closer.

Demo coming soonRuns [[ SCRIPT ]].pyLecture 06