Topics
| Date | Topic | Slides | Notes | Modern Robotics Chapter | RMC Book1 |
|---|---|---|---|---|---|
| Jan 13 | Course Overview; Motion Tasks | Overview | 1 | 1 | |
| Jan 15 | MuJoCo Setup |
MuJoCo |
webpage | ||
| Jan 20 | Nonlinear Least squares | slides | |||
| Jan 22 | Scan Matching | scan match, NDT | |||
| - | Frames and Coordinates | Euclidean Space | Ch 1 | 3.1 | 2.1 |
| Jan 27 | Odometry | odometry | |||
| - | Homogenous Coordinates | Homogenous Transformations | Ch 1.5 | 3.3.1 | 2.2-2.6 |
| Jan 29 | Pose Graph Optimization | pose graph | |||
| - | Extended Kalman Filter SLAM | EKF Slam | |||
| Feb 03 | Map Representations | OneNote | |||
| Feb 05 | Motion Planning Overview | Overview, Search | OneNote | 10.3 | 5 |
| Feb 10 | Search-based Motion Planning | Search | OneNote | 10.3 | |
| Feb 12 | Motion Planning RRT, Polynomial Blends | MP1, MP2 | OneNote | 10.3 | 5 |
| Feb 17 | Optimal Control | Optimal Control PDF | |||
| - | Linear Dynamical Systems | Linearization, LTI Systems | |||
| Feb 19 | LQR | OC Web slides, Simple LQR | Matrix Review | ||
| Feb 24 | iLQR | iLQR | |||
| Feb 26 | iLQR: Line Search, Forward Pass, MPC | iLQR, MPC | |||
| - | ODEs | ODE Slides ODE Models, Mechanical Sys, Electrical Sys, | |||
| Mar 03 | Modeling | Powered Mechanisms | Ch 3, OneNote | Ch 3.1 | Ch 7.6 |
| Mar 05 | Dynamics | Dynamics, Actuation | Ch 3, OneNote | Ch 3.1 | Ch 7.6 |
| - | Control Systems | Laplace Transforms, Transfer Functions, Stability, Feedback/forward Control | |||
| Mar 10 | Independent Joint Control, Gravity Compensated PD | IJC, GravComp | 4.1-4.2 | 11.4.2.1 | 6, 8.1 |
| Mar 13 | Inverse Dynamics Control | InvDyn | 4.2 | 11.4.2.2 | 8.2 |
Footnotes
Robot Modeling and Control, M. W. Spong, S. Hutchinson, and M. Vidyasagar, John Wiley & Sons, 2006. ↩︎