COMP 462/562: Introduction to Modern Robotics (Spring 2026)
Credits: 3Lectures: 4:00PM - 5:15PM MW (12-JAN-2026 - 24-APR-2026)
Instructor: Kaiyu Hang
Office Hours: Monday 2:30pm-3:30pm in DH 3056
Teaching Assistants: Yiting Chen, Howard Qian, Podshara Chanrungmaneekul
Office Hours: Tuesday & Wednesday 2:30pm-3:30pm in DH 2014
Course Description
Robots, as seen in many different forms, can help people in various scenarios to improve the efficiency, safety, and quality of task executions. In particular, those robots which can physically interact with the world possess essential skills to engage themselves more comprehensively in the real-world tasks. For example, robots with manipulation skills can help us in factories, kitchens, hospitals, warehouses, construction sites, and even in space or on other planets. This course introduces both fundamental and state-of-the-art knowledge to let students acquire a broad understanding of modern robotics. Topics including robot motions, kinematics, dynamics, simulation and Robot Operating System (ROS), hand and grasping, prehensile and nonprehensile manipulation, robot control, and interactive estimation, will be covered. Programming projects are involved to facilitate converting textbook knowledge to solid hands-on experiences.Prerequisites
COMP 215 AND (ELEC 303 OR STAT 310 OR ECON 307 OR STAT 312 OR STAT 315 OR DSCI 301 OR STAT 311 OR CMOR 302 OR CMOR 303 OR MATH 354 OR MATH 355)Textbook
Primary:"Modern Robotics"
Kevin M. Lynch, Frank C. Park
Cambridge University Press
Other:
"Probabilistic Robotics"
Sebastian Thrun, Wolfram Burgard, Dieter Fox
MIT Press
"A Gentle Introduction to ROS"
Jason M. O'Kane
Grading
Homework assignments (40 points), project assignments (60 points), mid-term test (5 points), and final test (5 points)Late homework submission: 0.5 point will be deducted every day after the due date
Late project submission: 1 point will be deducted every day after the due date
Project resubmission: everyone can resubmit at most 1 time for each project to improve the points. However, the resubmission will be deducted by 5 points.
Grading Scale (462): A (≥ 90 points), B (≥ 80 points), C (≥ 70 points), D (≥ 60 points), F (<60 points).
Grading Scale (562): A (≥ 100 points), B (≥ 90 points), C (≥ 80 points), D (≥ 70 points), F (<70 points).
Absence Policies
5 quizzes will be randomly taken throughout the semester and used to measure attendance. Every absence, unless excused, will deduct 5 points from the final grade.Rice Honor Code
All students will be held to the standards of the Rice Honor Code, a code that you pledged to honor when you matriculated at this institution. If you are unfamiliar with the details of this code and how it is administered, you should consult the Honor System Handbook. This handbook outlines the University's expectations for the integrity of your academic work, the procedures for resolving alleged violations of those expectations, and the rights and responsibilities of students and faculty members throughout the process.Disability Resource Center
If you have a documented disability or other condition that may affect academic performance you should: 1) make sure this documentation is on file with the Disability Resource Center (Allen Center, Room 111 / adarice@rice.edu / x5841) to determine the accommodations you need; and 2) talk with me to discuss your accommodation needs.Course Schedule (Subject to changes)
| Week of | Monday | Wednesday | Note |
|---|---|---|---|
| Jan-12 | Introduction | Configuration Space | |
| Jan-19 | No Class | Robot Motions 1 | |
| Jan-26 | Robot Motions 2 | Robot Motions 3 | |
| Fed-2 | Forward Kinematics | Velocity Kinematics | |
| Feb-9 | Motion Planning 1 | Inverse Kinematics | |
| Feb-16 | Physics and Simulation | Motion Planning 2 | Project #1 begins |
| Feb-23 | ROS | Midterm Test | |
| Mar-2 | Kinematics of Closed Chains | Contacts and Grasping 1 | |
| Mar-9 | Contacts and Grasping 2 | Dynamics of Open Chains 1 | Project #2 begins Project #1 Due |
| Mar-16 | No Class | No Class | |
| Mar-23 | Dynamics of Open Chains 2 | Dynamics of Open Chains 3 | |
| Mar-30 | Trajectory Generation | State Estimation | Project #3 begins Project #2 Due |
| Apr-6 | Robot Control 1 | Robot Control 2 | |
| Apr-13 | Robot Control 3 | Course Review | |
| Apr-20 | TBA | Final Test | Project #3 Due |