Instructors: Chris Atkeson,
cga at cmu
Umashankar (Uma) Nagarajan,
umashankar.nagarajan at disneyresearch.com
Time: TR 3-4:20PM
Place: NSH 3002
Events of interest
Darpa Robotics Challenge
Creating a Real-Time Conversation Manager with multiple time scales
January 30, 2013, 3:00 PM, GHC 6115.
Robotic Agents Performing Human-Scale Everyday Manipulation Tasks
- In the Knowledge Lies the Power,
University of Bremen,
Robot Combat League
Series Premiere Tuesday Feb 26 at 10/9c, Syfy.
For more information, take a look at
version of this course.
Locomotion: control, dynamics, kinematics, planning
Jan 29: Locomotion: wheeled vehicles (CGA)
Simple dynamics, kinematics, and control. How to plan around obstacles.
Jan 31-Feb 5: Locomotion: Ballbot (Uma)
Balancing on wheels. slides etc.
Feb 7: Locomotion: legged balance (CGA)
Feb 12: Locomotion: running (CGA)
Feb 12: Locomotion: walking (CGA)
Feb 14-26: Locomotion: walking and running on rough terrain (CGA)
Footstep planning, A* search, Trajectory optimization.
Manipulation: lots of kinematics, some dynamics, control, planning
Feb 28: Manipulation: Introduction (Rotation etc.)(Uma)
Manipulation: Arms (Uma)
contains the slides and matlab scripts for inverse
kinematics, velocity propagation from link to link and jacobian.
contains the slides for singularity, contact
force propagation and dynamics. It contains matlab scripts for minimum jerk
trajectory generation, joint space planning, cartesian space planning and
inverse dynamics + pd control.
Manipulation: Using your whole body (Uma)
Redundant manipulation. Multiple contacts.
Manipulation: Planning Algorithms (CGA)
Manipulation: Hands, vision and tactile sensing (CGA)
Other aspects of Humanoids
April 2: Human Robot Interaction: (Uma)
April 4-11: Learning: (CGA)
Building a Humanoid: (Uma)
Other topics to be added as time permits.
April 30: Project Presentations
May 7: Project Presentations
Ways to capture movies of your assignments
Assignment 0: Due Jan 21.
Send email to Chris and Uma: Who are you? Done any robotics?
Any project ideas? Google and send me some interesting URLs.
Be sure your name is obvious in the email, and you mention the course
name or number. We teach more than one course, and a random email from
email@example.com is hard for us to process.
Assignment 1: Create Environment Model: Due Jan 21.
Assignment 2: Car Race Contest: Part 1 Due Feb 4,
Part 2 Due Feb 11.
Using the car model we provide, develop a controller that
can drive the car around the track as fast as possible, given the limitations
of the DRC (10mph max speed, friction, etc.)
Assignment 3: Due Feb 20.
Send email to Chris and Uma: What are you going to do for your project?
Give us a description of the project. No particular format required.
Assignment 4: Race Contest with Cart Pole:
Due March 18.
For projects we would like you to do something related to the
Darpa Robotics Challenge
Videos of the day:
Things to Think About
Info on Humanoids
Other Humanoids Courses (mostly graduate) and Research Groups
Course Poster, suitable for framing.