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	0	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	2026-06-03 17:00:07
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-SLAM 8. Advances in manipulators and mobile robotics 9. Paper presentations and 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 make an oral presentation and submit a report based on a technical paper in related topics.
Course 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 Jacobians: velocities and static forces 8 10/28 Manipulator dynamics (1/2) 9 11/04 Midterm examination 10 11/11 Manipulator dynamics (2/2) 11 11/18 Trajectory generation and manipulator design 12 11/25 Extended Kalman Filter 13 12/02 Motion And Measurement 14 12/09 EKF-SLAM 15 12/16 Advances in manipulators and mobile robotics 16 12/23 Final presentations (1/2) 17 12/30 Final presentations (1/2) or optional Final examination 18 01/06 Final reports due 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 30%, midterm 30%, final presentation and report (or optional final examination) 30%.
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	Response to government epidemic alert, course lecture and presentations will be offered online via Microsoft Teams at class hours and recorded lectures are available in iStudy. Please refer to Taipei Tech's iStudy for details about this course.