Instructors: Chris Atkeson,
cga at cmu
Time: TR 3-4:20PM
Place: NSH 3002
Events of interest
Walk, Bound, Gallop, Climb,
12:00 - 1:30 p.m.,
Rashid Auditorium, 4401 Gates Hillman Center,
Pre-registration is required.
Modeling common-sense scene understanding with probabilistic programs,
Joshua B. Tenenbaum, MIT,
Thursday, March 27, 2014,
328 Mellon Institute.
HRI Talk: Designing Robots for Fluent Interaction: Movement, Form, and Function
Guy Hoffman, Wednesday, February 5, 2014 - 3:00pm, NSH 1305.
Talk: Understanding Human Behaviours using 2D and 3D Sensors, January 20, 2014, 3:00 - 4:00, NSH 1507
For more information, take a look at
version of this course.
Jan 14: Introduction
Jan 16: Intro to Vision
Jan 21: 2D Debris Task: Hands,
Jan 23: Forward and Inverse Kinematics
Jan 28: Using Matlab
A basic tutorial for vectors and matrices,
Jan 28: Inverse Kinematics Using Function Optimization
Robotics: redundant inverse kinematics.
Using Matlab's fminsearch and fminunc.
Using Matlab's fminsearch and fminunc, with
Using Matlab's fmincon.
Jan 30 - Feb 4: 3D Orientation
Feb 4: 3D Vision
Feb 4: 3D Debris Task
Matlab code for DRC robot forward kinematics.
Feb 6: Collision Detection
Feb 6: Manipulation: Planning
Straight line paths in joint space and Cartesian space,
Rapidly Exploring Random Trees (RRT),
Feb 11: Actuation: Force/torque sources, position sources with compliance
Feb 11: Feedback Control
Feb 13-18: Dynamics
gravity compensation, full dynamics,
Feb 18: Simulation
Feb 18: Model Building
Kinematic calibration, Mass calibration, Dynamic calibration.
Feb 25: Internal Sensors:
spindle, Golgi Tendon Organ
Feb 25: Robot Touch/Force Sensors: skin, finger, wrist, joint, ankle, base.
Feb 25: Skin, and tactile sensing:
Feb 25: Locomotion: wheeled vehicles
Simple dynamics, kinematics, and control. How to plan around obstacles.
Feb 27: Locomotion: legged balance
Feb 27: Locomotion: running
March 4: Locomotion: walking:
static, CPG, ZMP, dynamic.
March 4: Locomotion: walking and running on rough terrain
Footstep planning, A* search, Trajectory optimization.
March 6: Artificial People
March 10-14: No Class
March 18-20: Hands:
Utah-MIT hand 2,
March 25-27: Learning:
Neural net 2,
Neural net learning,
April 1: Classification Examples:
400 receptors, 1 trillion smells
April 1: Memory-Based Learning:
k-nearest neighbors algorithm,
Kernel regression and locally weighted regression. Model learning.
April 3: Project Brainstorming
April 3: Ethics, Policy Issues
April 8: Clustering
April 8: Learning Probabilities
April 8: Function Optimization
gradient, nongradient, evolutionary.
April 8: Reinforcement Learning
April 10: No Class
April 15: Learning From Practice
April 15: Learning From Demonstration
Inverse optimal control.
April 17: Project Office Hours
April 22: Falling and getting up, soft robots
April 24: Project Office Hours
April 29: Project Presentations
May 1: Project Presentations
May 14: Project Writeups Due
Ways to capture movies of your assignments
Assignment 0: Due Jan 20.
Send email to Chris: 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: Inverse Kinematics: Due Feb 17.
Assignment 2: Vision: Due March 3.
Assignment 3: Control: Part 1 and part 2 due March 24,
Part 3 due March 31.
Simulate something 3D in Matlab (hopping, walking, grasping, ...)
Simulate something 3D in ODE
Simulate something 3D in Gazebo
Develop a vision system to recognize your friends (Use a Kinect).
Develop a speech system for robot commands or robot interaction.
Train a neural net or other learning approach to do something interesting.
Implement some aspect of robotics that we discussed, or something
that interests you.
Survey the state of the art in some aspect of robotics.
Research some topic of interest to you.
Get a microprocessor to do something involving the real world (sensing
Build a robot kit.
Things to Think About
Info on Humanoids
Other Humanoids Courses (mostly graduate) and Research Groups
Course Poster, suitable for framing.