ECE 470
Introduction to Robotics

      University of Illinois at Urbana-Champaign

Course Personnel

Seth Hutchinson (course instructor)
158  Coordinated Science Lab
1308 W Main Street
Urbana, IL 61801-2307
Office Hours: Monday 10:00-11:00am

Siwei Tang (Lecture TA)
Office Hours in Room 5034, ECEB
Mon. 1:00-2:30pm, Wed. 9:00-10:30am

Jifei Xu (Lab TA)

Xinke Deng (Lab TA)

Kevin Meier (Lab TA)


Lectures will be held in Room 1015 of the Electrical & Computer Engineering Building, Tuesdays and Thursdays, 12:30-2:00pm.

Labs are held in ECEB 3071.


Robot Modeling and Control
Mark W. Spong, Seth Hutchinson, M. Vidyasagar,
John Wiley and Sons, Inc., 2005


Students taking this course should have some background in linear algebra, as well as programming experience (C++ is best). The official prerequisite for the course is:
    Credit in MATH 225 or MATH 286 or MATH 415 or MATH 418.


  • Exam 1: The first exam will be an in-class exam, Thursday, Oct 19. The exam will cover material presented in lectures through Oct 10, including rigid body motion, forward kinematics, and inverse kinematics. This material is covered in the first four homework assignments.
  • Exam 2: The second exam will be an in-class exam, Thursday, Dec 7. The exam will cover material presented in lectures given from Oct. 24 through Nov. 30, including computer vision, linear and angular velocity, Jacobians, and singularities.
  • Final Exam: The final exam will be given Tuesday, Dec. 19, 8:00-11:00AM.
    The exam will be given in ECEB 1015.
    You are allowed to use one page (front and back) of hand-written notes.


Written Homework: 15%
Labs: 15%
Midterm Examination 1: 20%
Midterm Examination 2: 20%
Final Examination 30%

Academic Integrity

These days, cheating is remarkably easy. Using today's search engines, one can likely find answers to most any question that might be asked in this course. When discussing your homework with fellow students, it can be tempting to copy their work, and to include it in your submitted assignments. You should resist the temptation to do such things. In this class, we will adopt a strict policy on cheating: Any student determined to have cheated on any homework assignment will receive zero credit for the entire semester's homework. If you have any question or concern about what might constitute cheating, you should read the College of Engineering's Guide to Academic Integrity. If, after reading this, you still have questions, feel free to raise these with one of the course instructors.