16-711: Kinematics, Dynamic Systems, and Control
Spring 2009
Instructor: Chris Atkeson, cga at cmu
TA: Siddharth Sanan, sanan at cmu
MW 3-4:30 NSH 3002

Course Description

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

Events

• Art Kuo: Mechanics and Control of Human Locomotion: Let Your Physics do the Walking, Thursday Jan 15 4-5 at Pitt.
• Matt Zucker: A Data-Driven Approach to High Level Planning: 19 Jan 1pm NSH 3305
• I urge you to attend the CFR seminar series and the RI seminar series.

Textbook:

Resources

• Review:
  SSVO Appendix A
  Numerical Recipes in C, chapters 2, 9, 10, 15 (2nd or 3rd edition, 2nd edition is electronically available for free): Solution of Linear Algebraic Equations, Root Finding and Nonlinear Sets of Equations, Minimization or Maximization of Functions, Modeling of Data. This material from any other numerical methods book is also fine.
• Introduction:
  SSVO Ch. 1
  Schaal: Introduction
• Jan 12: Web page, projects, problem set
  
• Jan. 14: Planar Kinematics:
  Wikipedia
  Schaal: Kinematics
• Jan 19: MLK day: no class
  
• Jan 21: 3D Kinematics, Representing orientation:
  SSVO Ch 2
  Schaal: Kinematics
  SHR Kinematics
  
• Jan 26: Trajectory generation
  SSV0 Chapter 4.
  Schaal: Trajectory Planning
• Jan 28: Some control and walking
  
• Feb 2: More representing orientation, 3D differential kinematics:
  SSVO Ch 2, 3
  
• Feb. 4: Planar Dynamics:
  Examples of deriving planar dynamics.
  Schaal: Dynamics
  Wikipedia: Lagrangian dynamics
  
• Feb 9: Simulation:
  Ch. 16 Integration of Ordinary Differential Equations in Wikipedia
  Numerical Recipes in C
  ODE
  OpenSim
  
• Feb. 9: 3D Dynamics:
  SSVO Ch. 7
  Schaal: Dynamics
• Feb 11: System Identification: Kinematics and Dynamics
  
• Feb 16: 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 18: Dynamic Planning:
  SSVO Ch. 12
  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 23: Policy search/optimization:
  Ch. 10 Minimization or Maximization of Functions in Numerical Recipes in C
  Matlab example code and cost function subroutine Matlab examples of policy search and trajectory optimization.
  AMPL trajectory optimization example, AMPL, NEOS server
  
• Feb 25: Actuators and sensors
  SSVO Ch. 5
  Schaal: Sensors & Actuators, Filtering
• Mar 2-25: Classical Control, Instability, Laplace Transforms, Root Locus, Performance and Robustness
  Schaal:Basic Linear Control Theory I & II, Frequency Domain Analysis
• Apr 8: State space control, loop transfer recovery.
  
• Apr ?: Nonlinear Control
  
• Apr ?: Robot Control,
  SSVO Ch. 8
  
• Apr ?: Force Control
  
• Apr 27: Learning (puzzle)
  
• Apr 29: Project Progress Reports
  

Assignments

• Assignment 1: Arm control (Due Jan. 16, 29)
• Assignment 2: Walking (Due Feb. 5)
• Assignment 3: Optimization (Due Feb. 17)
• Assignment 4: KF, 3D (Due Mar. 17)
• Assignment 5: Cart Pole (Due Mar. 31)
• Assignment 6: PUMA (Due May 1)

Lecture Notes

Possible Projects:

• Little Dog
• Suitcase humanoid.
• Shadow Hand with Nancy Pollard
• You suggest something.

Projects Page