Instructors: Chris Atkeson,
cga at cmu
TA: Allison Funkhouser, afunkhou at andrew
Time: TR 3-4:20PM
Place: NSH 3002
Events of interest
opens March 6.
Ex Machina (movie)
opens April 10.
For more information, take a look at
version of this course.
Jan 13: Introduction
Jan 15: Intro to Vision
Jan 20: 2D Debris Task: Registration, Hands, Choosing a target,
Jan 22: Trajectories
Jan 27: Forward and Inverse Kinematics
Jan 27: Using Matlab
A basic tutorial for vectors and matrices,
Jan 27: 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 29 - Feb 3: 3D Orientation
Feb 3: 3D Vision
Feb 3: 3D Debris Task
Matlab code for DRC robot forward kinematics.
Feb x: Collision Detection
Feb x: Manipulation: Planning
Straight line paths in joint space and Cartesian space,
Rapidly Exploring Random Trees (RRT),
Feb x: Actuation: Force/torque sources, position sources with compliance
Feb x: Feedback Control
Feb x: Dynamics
gravity compensation, full dynamics,
Feb x: Simulation
Feb x: Model Building
Kinematic calibration, Mass calibration, Dynamic calibration.
Feb x: Internal Sensors:
spindle, Golgi Tendon Organ
Feb x: Robot Touch/Force Sensors: skin, finger, wrist, joint, ankle, base.
Feb x: Skin, and tactile sensing:
Feb x: Locomotion: wheeled vehicles
Simple dynamics, kinematics, and control. How to plan around obstacles.
Feb x: Locomotion: legged balance
Feb x: Locomotion: running
March x: Locomotion: walking:
static, CPG, ZMP, dynamic.
March x: Locomotion: walking and running on rough terrain
Footstep planning, A* search, Trajectory optimization.
March x: Artificial People
March 9-13: No Class
March x-x: Hands:
Utah-MIT hand 2,
March x-x: Learning:
Neural net 2,
Neural net learning,
April x: Classification Examples:
400 receptors, 1 trillion smells
April x: Memory-Based Learning:
k-nearest neighbors algorithm,
Kernel regression and locally weighted regression. Model learning.
April x: Project Brainstorming
April x: Ethics, Policy Issues
April x: Clustering
April x: Learning Probabilities
April x: Function Optimization
gradient, nongradient, evolutionary.
April x: Reinforcement Learning
April 9: No Class
April x: Learning From Practice
April x: Learning From Demonstration
Inverse optimal control.
April 28: Project Presentations
April 30: Project Presentations
May x: Project Writeups Due
Ways to capture movies of your assignments
Assignment 0: Due Jan 19.
Send email to Chris and Allison: 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: Due Jan 20.
Watch a movie or TV show or read a book that has a significant humanoid
robot character. Be prepared to discuss this character in class.
Current movies: Big Hero 6 and Interstellar.
Assignment 2: Inverse Kinematics: Due Feb 11.
* means with high probability it could turn into a summer job.
* Build a soft robot and control it. See my web pages on soft robots
* Build Baymax
* Build a "robot theater/diorama" for STEAM education.
* Help me build a sensor network for the Sarcos humanoid.
* Help a graduate student get the Sarcos humanoid working again.
* Build a prototype robot skin (with CGA help).
* Figure out how to make the Robotis-Mini (Darwin) useful to the course.
Get a microprocessor to do something involving the real world (sensing
or actuation). *Get an Intel Edison working.
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.
Things to Think About
Info on Humanoids
Other Humanoids Courses (mostly graduate) and Research Groups
Course Poster, suitable for framing.