16-711: Kinematics, Dynamic Systems, and Control
Spring 2010
Instructor: Chris Atkeson, cga at cmu
TA: Eric Whitman, ewhitman at cmu
MW 3-4:30 NSH 3002

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.

Textbook:

SSVO = Modelling and Control of Robot Manipulators (Advanced Textbooks in Control and Signal Processing) by Lorenzo Sciavicco and Bruno Siciliano, Springer 2000 (2nd edition).
Other useful books are:
SSV1 = Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing) by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo, Springer 2009.
SHR = Springer Handbook of Robotics 2008, Bruno Siciliano, Oussama Khatib (Eds.)

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 11: Web page, projects, problem set
Jan. 13: Planar Kinematics:
Wikipedia
Schaal: Kinematics
Jan 18: MLK day: no class
Jan 20: Optimization, Inverse Kinematics
Wikipedia: Optimization (mathematics)
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.
Jan 25: 3D Kinematics, Representing orientation: slides
SSVO Ch 2
Schaal: Kinematics
SHR Kinematics
Jan 27: 3D differential kinematics:
SSVO Ch 3
Feb. 1: Planar Dynamics:
Examples of deriving planar dynamics.
Schaal: Dynamics
Wikipedia: Lagrangian dynamics
Feb. 3: Learning Kinematics and Dynamics
Feb. 8: Snow Day
Feb. 10: Snow Day
Feb. 15: Intro to Control, Optimal Control, 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 17: 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. 22: Parameterized Dynamics Programming, Trajectory Optimization
Feb 24, March 1: 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
March 3: 3D Dynamics:
SSVO Ch. 7
Schaal: Dynamics
Mar 8-22: Classical Control, Instability, Laplace Transforms, Root Locus, Performance and Robustness
Schaal:Basic Linear Control Theory I & II, Frequency Domain Analysis
Mar 24: State space control, loop transfer recovery.
Mar 29: Nonlinear Control
Mar 29: Robot Control
SSVO Ch. 8
Mar 31: Force Control
Apr 5: Adaptive Control
Apr 7: High Level Planning
Apr 12: Walking I
Apr 14: Walking II
Apr 19: Optimization and Planning
Apr 21: Hands
Apr 26: Project Presentations
Apr 28: Project Presentations

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

Assignments

Assignment 0: Send CGA/TA email: Who are you? Why are you here? What research do you do? Any project ideas?
Assignment 1: Arm control (Due Jan. 15, 24)
Assignment 2: Making models (Due Feb. 7)
Assignment 3: Optimal Control (Due Feb. 28)
Assignment 4: State estimation, 3D dynamics (Due Mar. 14)

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

Lecture Notes

Possible Projects:

Dynamic Programming Contact cga.
Control of the new big dog Contact cga
State sensing using many accelerometers and gyros, for example using this, this, this, this, this, this, this, this, this, this, this, this, this, this, or this. Contact cga.
Human transfer (helping people with disabilities move from bed to chair to car etc.) Contact cga.
HERB project. Contact cga.
Neuro/biomechanical modeling and/or walking with new professor Hartmut Geyer. Contact hgeyer @ cs.
Hands (Nancy Pollard, HERB project). Contact nsp @ cs or cga.
You suggest something.