16-711: Kinematics, Dynamic Systems, and Control
Spring 2008
Instructor: Chris Atkeson, cga @ cmu
TA: Ben Stephens, bstephens @ cmu
MW 3-4:30 WEH 4615A KDC

Course Description

For more information, take a look at last year's course.

Events

• I urge you to attend the CFR seminar series and the RI seminar series.

Resources

• Review:
  S&S Appendix A
  Numerical Recipes in C, chapters 2, 9, 10, 15
• Introduction:
  S&S Ch. 1
  Schaal: Introduction
• Jan 14: 1D Trajectory generation
  S&S 185-192
  Schaal: Trajectory Planning
• Jan 16: Optimization:
  Ch. 10 Minimization or Maximization of Functions in Numerical Recipes in C
  Matlab example code and cost function subroutine
• Jan 23: Simulation:
  Ch. 16 Integration of Ordinary Differential Equations in Numerical Recipes in C
  ODE
  OpenSim
  
• Jan 28: Policy search/optimization:
  Ch. 10 Minimization or Maximization of Functions in Numerical Recipes in C
  Matlab examples of policy search and trajectory optimization.
  AMPL trajectory optimization example, AMPL, NEOS server
  
• Jan 30 and Feb 4: More Dynamic Planning:
  Dynamic programming: Ch. 8 of Lavalle's book
  DP slides
  A*. Ch. 2 of Lavalle's book
  RRT, Ch. 5 of Lavalle's book
  
• Feb. 11: Planar Dynamics:
  Examples of deriving planar dynamics.
  Schaal: Dynamics
• Feb. 13: Example simulations and controllers:
  Simbicon gait controller example.
  Feb. 13: Planar Kinematics:
  S&S Ch. 2, 3
  Schaal: Kinematics
• Feb. 18: Representing rotations:
  S&S Ch. 2 21-38
  
• Feb. 20: 3D Dynamics:
  S&S Ch. 4
  Schaal: Dynamics
• Feb 25: State Estimation
  Schaal: Kalman Filtering
  Review of Gaussians slides
  State estimation slides
  Matlab Kalman filter example and minimum jerk trajectory subroutine.
  Example mobile robot Kalman filter slides
  
• Feb 27-Mar 3: More State Estimation
  
• Mar 5: Actuators and sensors
  S&S Ch. 8
  Schaal: Sensors & Actuators, Filtering
• Mar 17:
  
• Mar 19: System Identification: Kinematics and Dynamics
  
• Mar 24: Classical Control, Laplace Transforms
  S&S Ch. 6
  Schaal:Basic Linear Control Theory I & II, Frequency Domain Analysis
• Mar 26: Asada lecture
  
• Mar 31: TA lecture
  
• Apr 2: Classical Control: What causes instability?
  
• Apr 7: Classical Control: Performance and Robustness
  
• Apr 9: Classical Control: Performance and Robustness
  
• Apr 14: Loop Transfer Recovery
  
• Apr 16: Nonlinear Control, Robot Control, Dynamic Planning, RRT, A*
  
• Apr 21: Force Control
  
• Apr 23: Nonlinear Control and Stability
  
• Apr 28: Project Progress Reports
  
• Apr 30: Learning (puzzle)
  

Assignments

• Assignment 1: Planar legged locomotion (Due Feb. 5)
• Assignment 2: Biped Simulation and Control (Due Feb. 26)
• Send email to Chris and Ben describing your project.
• Assignment 3: State Estimation (Due Mar. 25)
• Assignment 4: Let's really control something real: A PUMA robot (Due Apr. 30)

Lecture Notes

Possible Projects:

• Little Dog
• Biped walking approaches and Recent work
• Shadow Hand with Nancy Pollard
• Balancing robot (Segway like) with an arm.
• Puma
• Hydraulic modeling and control
• Dynamic planning
• State estimation for human bodies and humanoid.
• Gaze control for humanoids
• Intrinsically safe robots, soft robots
• You suggest something.

Projects Page