Robotics and Applications

Course Description

This course connects fundamental robotics concepts with practical implementation. Students will study robot structures, coordinate transformations, kinematics, robot modeling, programming, and motion planning. Examples from robotic manipulation and industrial applications provide context for understanding how these elements work together.

Practical work will use the DR-xcobo 2.0 as the course platform, with an emphasis on URDF modeling, Python interfaces, and MoveIt-based motion planning. Students will develop and validate applications in simulation, document their results, and communicate their design decisions. Hardware activities will be arranged according to platform availability and the teaching schedule.

Course Instructor & Teaching Team

• Lead Instructor: Sen Li, Ph.D.

Teaching Schedule

Dates, class times, and teaching materials will be added when available.

1. Lecture 01: URDF Robot Modeling & Static Visualization in RViz
2. Lecture 02: Robot Motion Planning & Simulation with MoveIt
3. Lecture 03: Gazebo Physics Simulation & Robot Interaction

Robotic Platform & Resources

Platform: DR-xcobo 2.0

• URDF Robot Model
  Robot description and mesh assets for the DR-xcobo 2.0, including links, joints, and joint limits.

  Download ZIP · View URDF · Quick Start
  v1.0 · 3.8 MB · ROS 1 / RViz

• URDF Robot Model & RViz2 (ROS 2)
  ROS 2 description package and RViz2 launch configuration for the DR-xcobo 2.0.

  Download ZIP · View URDF · Setup Guide
  v1.0 · 3.8 MB · ROS 2 Jazzy / RViz2 · Ubuntu 24.04

• Python Driver — Python interface, connection instructions, and command examples.
• MoveIt Package — Robot configuration, planning setup, and example launch files.

The URDF download includes mesh assets and setup instructions. Python driver and MoveIt resources will be added when available.

Important Deadlines

Dates to be announced:

• Assignment 1
• Midterm Presentation
• Assignment 2
• Final Project
• Final Examination