Topics

Date	Topic	Slides	Notes	Modern Robotics Chapter1	RMC Book2
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 12	Inverse Dynamics Control	InvDyn	4.2	11.4.2.2	8.2
Mar 24	Forward Kinematics	Fwd Kin	2.2;2.3	4	3.1
Mar 26	Velocity Kinematics; Inverse Kinematics	Vel Kin, Inv Kin	2.2;2.3	3.3;6	4.1-4.5; 3.2
Mar 31	Task Space Inv Dyn	InvDyn	4.2.3	11.4.2	9.3
Apr 2	Project Proposal
Apr 7	Force and Impedance Control		4.4; 4.5; OneNote	11.5; 11.7	9
Apr 9	Manipulability and Null Space Control		OneNote
Apr 14	MPPI	MPPI
Apr 16	PPO	PPO

Footnotes

1. Modern Robotics wiki

2. Robot Modeling and Control, M. W. Spong, S. Hutchinson, and M. Vidyasagar, John Wiley & Sons, 2006.