Course Syllabus

Course Information：

Year-Semester Course Number Course Name Phase Credits Hours Required/Elective Instructor Class Student NO. Withdraw Note

Spring Semester
Year 2025 346418 AI and Robotics 1 1.0 1 ★ Ho-Chiao Chuang MSAI 7 2 先鋒1樓城市科學實驗室

Year-Semester	Course Number	Course Name	Phase	Credits	Hours	Required/Elective	Instructor	Class	Student NO.	Withdraw	Note
Spring Semester Year 2025	346418	AI and Robotics	1	1.0	1	★	Ho-Chiao Chuang	MSAI	7	2	先鋒1樓城市科學實驗室

Course Plan：

Instructor Ho-Chiao Chuang　Office Hours

Email hchuang@ntut.edu.tw

Last Updated 2025-02-18 18:25:40

Course Objective 上課地點: 先國際研發大樓一樓城市科學實驗室上課時間: 每周五9:10-10:00 備註: 教學以實作課程為主，選課人數限制15人。學生自備: 電腦及Python3 環境課程大綱: 本課程旨在教授學生如何使用物理模擬引擎 Mujoco 進行機器人模擬與控制，並透過實作來加深對控制理論（如 LQR、PID）的理解與應用。課程將涵蓋 Mujoco 的基本操作，包括環境設置、模型建立、動力學模擬等，並進一步探討機器人系統的狀態估計與控制策略。透過動手實作與專案練習，學生將學習如何利用 Mujoco 來測試與驗證各種控制演算法，為未來從事機器人研究或開發奠定堅實基礎。 This course aims to teach students how to use the physics simulation engine Mujoco for robotic simulation and control while deepening their understanding of control theories such as LQR and PID through hands-on implementation. The course covers the fundamental operations of Mujoco, including environment setup, model creation, and dynamics simulation. Students will also explore state estimation and control strategies for robotic systems. Through practical exercises and projects, students will learn how to leverage Mujoco to test and validate various control algorithms, building a solid foundation for future research or development in robotics.

Course Schedule wk1 遇見機器人 wk3 Mujoco介紹 wk4 URDF介紹 wk5 實作URDF wk6 建置環境 wk8 Actuator in Mujoco wk9 感測器 wk10 機器人模擬環境 wk11 控制系統理論 wk12 PD 控制及實作 wk13 PID控制 wk14 LQR控制 wk15 實作 wk16 期末報告

Evaluation and grading policy 出席率：10% 期末報告： 30% 實作表現： 40% 上課表現：20%

Materials All right reserved. Do not reproduce without permission.

Foreign-language textbooks:No
本課程使用自編講義教材 [1] How to Make (Almost) Anything [2] MAS.863 (2019) , (2020) [3] Final Project

The access to curricular consultation 每周二上午 9-12點為 Office hours

Expanding teaching and resources

The course corresponds to the SDGs SDG4：優質教育（Quality Education）
SDG11：永續城市與社區（Sustainable Cities and Communities）

Does the course incorporate AI

Note
　

Instructor	Ho-Chiao Chuang　Office Hours
Email	hchuang@ntut.edu.tw
Last Updated	2025-02-18 18:25:40
Course Objective	上課地點: 先國際研發大樓一樓城市科學實驗室上課時間: 每周五9:10-10:00 備註: 教學以實作課程為主，選課人數限制15人。學生自備: 電腦及Python3 環境課程大綱: 本課程旨在教授學生如何使用物理模擬引擎 Mujoco 進行機器人模擬與控制，並透過實作來加深對控制理論（如 LQR、PID）的理解與應用。課程將涵蓋 Mujoco 的基本操作，包括環境設置、模型建立、動力學模擬等，並進一步探討機器人系統的狀態估計與控制策略。透過動手實作與專案練習，學生將學習如何利用 Mujoco 來測試與驗證各種控制演算法，為未來從事機器人研究或開發奠定堅實基礎。 This course aims to teach students how to use the physics simulation engine Mujoco for robotic simulation and control while deepening their understanding of control theories such as LQR and PID through hands-on implementation. The course covers the fundamental operations of Mujoco, including environment setup, model creation, and dynamics simulation. Students will also explore state estimation and control strategies for robotic systems. Through practical exercises and projects, students will learn how to leverage Mujoco to test and validate various control algorithms, building a solid foundation for future research or development in robotics.
Course Schedule	wk1 遇見機器人 wk3 Mujoco介紹 wk4 URDF介紹 wk5 實作URDF wk6 建置環境 wk8 Actuator in Mujoco wk9 感測器 wk10 機器人模擬環境 wk11 控制系統理論 wk12 PD 控制及實作 wk13 PID控制 wk14 LQR控制 wk15 實作 wk16 期末報告
Evaluation and grading policy	出席率：10% 期末報告： 30% 實作表現： 40% 上課表現：20%
Materials	All right reserved. Do not reproduce without permission. Foreign-language textbooks:No 本課程使用自編講義教材 [1] How to Make (Almost) Anything [2] MAS.863 (2019) , (2020) [3] Final Project
The access to curricular consultation	每周二上午 9-12點為 Office hours
Expanding teaching and resources
The course corresponds to the SDGs	SDG4：優質教育（Quality Education） SDG11：永續城市與社區（Sustainable Cities and Communities）
Does the course incorporate AI
Note