Course Syllabus

Course Information：

Year-Semester	Course Number	Course Name	Phase	Credits	Hours	Required/Elective	Instructor	Class	Student NO.	Withdraw	Note
Fall Semester Year 2026	366465	Advanced Robotic Manipulation	1	3.0	3	★	Chang,Wen-Chung	GEE GAT IEECSG IMMA MSAI	3	0	電機所、自動化所、電資外生所、械械外生和創新AI合開

Course Plan：

Instructor	Chang,Wen-Chung　Office Hours
Email	wchang@ntut.edu.tw
Last Updated	2026-07-30 12:54:29
Course Objective	Advanced robotic manipulation is offered to graduate students interested in learning issues in design and analysis of robotics. In addition to lectures on advances in robotic manipulation and/or mobile robotics, oral presentations and reports on robotics research papers are required. Main topics in the course are as follow. 1. Spatial descriptions, transformations, and representations for orientation 2. Manipulator kinematics 3. Manipulator inverse kinematics 4. Jacobians: velocities and static forces 5. Manipulator dynamics 6. Trajectory generation and manipulator design 7. EKF-SLAM8. Flexible learning proposal and results reports Course handouts will be available via iStudy web. A number of homework questions, based on problem sets in the textbook, will be assigned for students to complete in class in an open-book fashion. Each student is required to submit flexible learning proposal and results reports during flexible learning period in related topics.
Course Schedule	Tentative schedule 1 09/09 Introduction 2 09/16 Spatial descriptions, transformations, and representations for orientation 3 09/23 Link description and affixing frames to links 4 09/30 Link transformations and forward kinematics examples 5 10/07 Inverse kinematics 6 10/14 Pieper’s solution 7 10/21 Velocity Jacobian 8 10/28 Midterm examination 9 11/04 Static forces Jacobian 10 11/11 Manipulator dynamics (1/2) 11 11/18 Manipulator dynamics (2/2) 12 11/25 Trajectory generation and manipulator design 13 12/02 Extended Kalman Filter 14 12/09 Motion And Measurement 15 12/16 EKF-SLAM 16 12/23 Final examination PS: The contents and order of lectures and final presentations will be adjusted according to actual needs
Evaluation and grading policy	The final grade will be a weighted average of attendance 10%, in-class open-book homework 20%, midterm 30%, final 30%, flexible learning reports 10%, and in-class performance credits evaluated by Professor.
Materials	All right reserved. Do not reproduce without permission. Foreign-language textbooks:Yes 1. Introduction to Robotics: Mechanics and Control, 4th Edition, John J. Craig, Pearson Education.
The access to curricular consultation	Prof. Wen-Chung Chang (02)27712171 Ext. 2125, wchang@ntut.edu.tw Office hours: Check official EE website TA: Mr. Shao-Jie Kuo (02)27712171 Ext. 2130, t114318112@ntut.edu.tw
Expanding teaching and resources	● 混成學習 (Blended Learning) 課程結合實體授課與線上學習（同步視訊／非同步活動）。 Combines face-to-face instruction with online learning (including synchronous video sessions or asynchronous activities).
The course corresponds to the SDGs	SDG9：產業創新與基礎設施（Industry, Innovation and Infrastructure）
Does the course incorporate AI	● 鼓勵學生使用生成式AI工具（Encourage students to use generative AI tools）
Note	Flexible Learning Categories Distance learning (asynchronous) Self-directed learning Course-related reports Contents Asynchronous distance learning is adopted. Students are required to perform self-directed learning on course-related topics and submit a flexible learning proposal report in the 17th week and a flexible learning results report in the 18th week. Hours 3 hours in the both 17th and 18th weeks, totally 6 hours. Learning results Complete flexible learning proposal and results reports Grading Proposal report 5%, Results report 5%