16-264: Kinematics, Dynamic Systems, and Control
Spring 2006
Tuesdays/Thursdays 3-4:20
NSH 3002
Instructors: Chris Atkeson, cga@cs
Frederik Heger, fwh@cs

Course Description

Events

• Ballbot: Balancing on a Single Spherical Wheel
  George Kantor
  Thursday, April 6, 12, NSH 1109
  Field Robotics Center Seminar Series
• I urge you to attend the CFR seminar series and the RI seminar series.

Readings

• Review: S&S Appendix A
  Linear Algebra
  Numerical Recipes in C, chapters 2, 9, 10, 15
• Introduction: S&S Ch. 1
  Hollerbach: Introduction
  Schaal: Introduction
• Jan 17: 1D Trajectory generation S&S 185-192
  Hollerbach: Trajectory Planning
  Schaal: Trajectory Planning
• Jan 17: Simulation: Ch. 16 Integration of Ordinary Differential Equations in Numerical Recipes in C
• Jan 19: Policy search/optimization: Ch. 10 Minimization or Maximization of Functions in Numerical Recipes in C
  A*. Ch. 2 of Lavalle's book
• Jan 24: RRT, Ch. 5 of Lavalle's book
  Dynamic Programming: Ch. 8 of Lavalle's book
• Jan 31: Actuators and Sensors S&S Ch. 8
  Schaal: Sensors & Actuators, Filtering
• Hollerbach: Planar (2D) Transformations and Displacements
• Feb 9, 23: Forward Kinematics: S&S Ch. 2
  Hollerbach: Forward Kinematics (position only)
  Schaal: Direct Kinematics
• Feb 9: Inverse Kinematics: S&S Ch. 2
  Hollerbach: Inverse Kinematics (position only)
  Schaal: Inverse Kinematics
• Feb 14, Mar 2: S&S Ch. 3
  Velocities and Accelerations
• Feb 14: Differential Inverse Kinematics Inverse Kinematics: Velocities and Accelerations
  
• Feb 14: Statics
• Feb 14, 28: Dynamics: S&S Ch. 4
  Hollerbach: Dynamics
  Schaal: Dynamics: Lagrangian Formulation; Dynamics: Newton-Euler Formulation and Software Tools
• Feb 21: Representing rotations: S&S Ch. 2 21-38
  Hollerbach: Spatial (3D) Transformations and Displacements
• Mar 7: Robot Calibration: Hollerbach: Kinematic and Dynamic Parameter Estimation
• Mar 9: State Estimation: Schaal: Kalman Filtering

Assignments

• Assignment 1: Planning and Optimal Control (Due Jan. 30)
• Assignment 1 solutions
• Assignment 2: Multijoint Control, Planning, and Optimal Control (Due Feb. 13)
• Assignment 2 solutions
• Assignment 3: Modeling a finger: kinematics and dynamic simulation (Due Feb. 27)
• Assignment 3 solutions
• Assignment 4: Controlling a single axis robot: (Due Mar. 20)
• Assignment 4 solutions
• Assignment 5: Controlling a single axis robot, part II: (Due Mar. 27)
• Assignment 5 solutions
• Assignment 6: Controlling a two axis robot: (Due May. 5)
• Assignment 6 solutions

Lecture Notes

• 2D kinematics and dynamics.
• Link and load identification

• Little dog More info
  
• biped walking