16711: Kinematics, Dynamic Systems, and Control
Spring 2010
Instructor: Chris Atkeson, cga at cmu
TA: Eric Whitman, ewhitman at cmu
MW 34:30 NSH 3002
For more information, take a look at
last year's course.
Events
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 822: 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
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.
Past Projects
Stephane Ross, Matt Swanson, Ryan Waliany 2009
Ross Diankov 2007
Maxim Makatchev 2007
Davneet Minhas 2007
Dmitry Berenson 2007