Schedule

Date Topic Notes Reading Assignment out/due
1/13/2014 Introduction
1/16/2014 Representation of rotation, Homogeneous Transforms Vectors, Matrices, Rotations Homogeneous Transforms Spong, 2.1--2.4; 3.1--3.2
1/20/2014 Representation of rotation Homogeneous Transforms Euler angles, Quaternions Differential Kinematics Spong, 2.1--2.4; 3.1--3.2
1/23/2014 Representation of rotation Euler angles, Quaternions Homework 1 out
1/27/2014 Snow Day!!! Snow Day!!!
1/30/2014 Differential Kinematics Differential Kinematics Cartesian Control Spong, 4.1--4.6 Homework 1 due
2/3/2014 Jacobians Cartesian Control Inverse Kinematics Kinematic Redundancy Spong, 4.1--4.6
2/6/2014 Cartesian Control Cartesian Control Homework 2 out
2/10/2014 Snow Day!!! Snow Day!!!
2/13/2014 Cartesian control Cartesian Control Inverse Kinematics Kinematic Redundancy Configuration Space, PPT, Potential Functions Homework 2 due
2/17/2014 Redundancy Kinematic Redundancy Homework 3 out
2/20/2014 Cspace Configuration Space, PPT LaValle, 4.1 -- 4.3, 5.1 -- 5.6
2/20/2014 Potential fields Potential Functions, LaValle, 4.1 -- 4.3, 5.1 -- 5.6
2/27/2014 Class Cancelled!!! Homework 3 due
3/3/2014 PRM PRM, (PPT), Expansive Spaces, (PPT),
3/6/2014 RRT RRT
3/10/2014 Spring Break!
3/13/2014 Spring Break!
3/17/2014 RRT, A* A*, Weighted A*, A* example
3/20/2014 Weighted A*, Control, Kalman Filter A*, Weighted A*, Intro to Controls Kalman Filter Homework 4 out
3/27/2014 Kalman Filter Homework 4 due
3/31/2015 Kalman Filter Kalman Filter Homework 5 out
4/3/2015 LQR Intro to LQR, Affine LQR, LQR Example Video of LQR being used to control an inverted pendulum about the upright. MIT perching glider video
4/10/2015 LQR Intro to LQR, Affine LQR, LQR Example Video of LQR being used to control an inverted pendulum about the upright. MIT perching glider video
4/10/2015 Homework 5 due
4/24/2015 Homework 6 due
4/28/2015 NOTE! I updated question 1.b. It is now asking for the derivative wrt x, not r, v, w. Also, the review session is in the same room at the same time as usual. Exam due


Readings: unless noted otherwise, all readings and assignments are due on the day that they appear in the schedule.

Spong --> Robot Modeling and Control, by Mark W. Spong, Seth Hutchinson, M. Vidyasagar

LaValle --> Planning Algorithms, Steven LaValle