Vision, Robotics, and Planning—Intelligent Machines

For the Spring semester 2022, ME/SE 740 will be in-person but with the possibility that there will be occasional flip to online with lectures given via Zoom. If pandemic infections are such that this becomes necessary, instructions for finding the class on Zoom will be sent.

Prof. J. Baillieul
Mechanical Engineering
Electrical and Computer Engineering
Systems Engineering

ENG ME/SE740 Course Outline: (Spring 2022)


1. Foundations of intelligent mechatronics
2. Geometry and robot coordinate systems
3. Euclidean group theory and kinematic equations
4. Differential relationships
5. Specifying robot motions
6. Analytical dynamics of mechanical systems
7. Control: basic issues
8. Control: sampled data systems
9. Control: advanced topics
10. The control theory of micro-mechanical systems
11. Advanced topics: kinematic redundancy
12. Advanced topics: Super-articulated mechanical systems
13. Advanced topics: Information based control
14. Advanced topics: Networked control systems

Communication regarding this course will frequently involve this Web page.

2020 Mini Projects Page.
Neurobiology and autonomy Lecture.

The TED Lectures on Robotics

Professor Theodore E. Djaferis co-taught the course in the Spring of 2017.
These are course notes that he has provided on selected lectures.

Lecture 4 Lecture 5 Lecture 6 Lecture 7
Lecture 8 Lecture 9 Lecture 10 Lecture 11
Lecture 12 Lecture 13 Lecture 14 Lecture 15
Lecture 16 Lecture 17 Lecture 18 Lecture 19
Lecture 20 Lecture 21 Lecture 22 Lecture 23
Lecture 24 Lecture 25

April 14, 2020 lecture supplement here.
April 16, 2020 lecture supplement here.
April 21, 2020 lecture supplement here.

Term projects presentation schdule
Project presentaion sign-up. Note: Only sign up for open slots.
They will be assigned in the order that I come to them in the on-line form.

April 26      April 28 May 3
8:50 Maria Kloiber
9:00 Jack Locke Ali Moein Janae Oden
9:10 Samuel Hawkins Christina Mezmur     Egor Badich
9:20 Rukaiya Batliwala Hourig Obanian Hongyi Rao
9:30 Matheus De Almeida Drew Threatt Brooke Townes
9:40 Nash Elder Maria Kloiber Leotaud Cifuentes    
9:50 Yitian Ren Liang-Yu Chen Patrick Smith
10:00 Ola Ghattas Asad Iqbal Amsal Akber Ali
10:10 Leen Ghattas Richard Heath Yuewen Wu
10:20 Xufeng Shen Shan Li

Visit in the Spring of 2023 for new sets of problems.

If you wish to pursue a masters degree with Robotics Specialization noted on your transcript, please visit

Course handouts 2022:

1. Course syllabus outline: [PDF] or [HTML]. (HTML with book purchase options.)
2. Examples of possible course projects: [PDF]. Project proposals due soon.
    —Sample proposals from 2017.

     Theses that started as ME/SE 740 course projects:
        Ben Troxler thesis,
        Paul Seebacher thesis,
        Laura Corvese thesis.
      A thesis on vision-based naviation:
        Chiara Boretti, Philippe Bich thesis.

3. Project report sample and report template.

ROS Resources:

1. Recommended book: A Gentle Introduction to Robotics.
2. ROS Tutorial by Bee Vang: [Slides] and   [Video]
3. Blog about ROS2.

Elbow manipulator solution here.

Course readings: See Syllabus.

Intelligent Mechatronics Lab in the news.

Dancing Robots at Boston University.

Dancing Robots at Boston Dynamics.

Robotic reconnaissance game

Visual navigation

Old Mini Projects Page .

Last Revised: May, 2022