EECS C106A Fa24

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EECS C106A/206A | Introduction to Robotics

Fall 2024

Roberto Horowitz

Roberto Horowitz

horowitz@

Professor
he/him

Week 11 Announcements

LAB

  • This week is the buffer week of Lab Module C.

  • Please anticipate a change to the lab schedule as we transition into the final projects. More details coming soon.

DISCUSSION

  • This is the final week of discussion!

  • This week’s Bridge section will also be the last! Noah will cover both dynamics and controls this week. Please be sure to take advantage of this time!

HOMEWORK

  • HW 9 is due Wed 11/13

  • It’s the last homework! Final stretch! You got this!

MIDTERM

  • The midterm is in class on 11/21

  • Anticipate another Ed announcement tomorrow with logistic details and the practice exam.

  • The review session for the practice will be on 11/18 7-9pm in Soda 306 (HP Auditorium)

FINAL PROJECT

  • Anticipate another Ed announcement soon with some FAQs and additional details.

  • Your first check-in is due 11/16.

GENERAL

  • Anticipate two logistical announcements coming out this week: one for final projects and one for the midterm.

  • Thanks again for your feedback! Review some responses at #436

  • As teased in that document, we will be hosting a Belonging Brunch on Saturday for students who feel like they might not be the typical EECS/robotics student. Please RSVP here by Thursday night so we can bring enough food. PS: It might be a good opportunity to find some study buddies before the midterm! https://forms.gle/uEYxGojSJXt5wkbCA

  • Make sure to get your flu shot! Tang is offering clinics More information here.

ACTION ITEMS

  • HW 9 is due 11/13

  • RSVP to Belonging Brunch if you’re interested https://forms.gle/uEYxGojSJXt5wkbCA

  • Your first Final Project check-in is due 11/16

  • Study for the midterm!

Remember to take a deep breath and take care of yourself. You can’t pour from an empty glass! Also be sure to stay safe as you get home. With Daylight Savings, it gets dark earlier, so be sure to walk with a buddy or make use of the night safety services Berkeley offers.

All Announcements

Course Calendar

All lecture slides and videos can be found on bCourses

Week 0

No Class
8/27
Intro - History of Robotics
8/28

(Logistics Slides) (Lecture Slides) (Video)

Rigid Body Motion

Week 1

Rigid Body Motion
9/3

(Slides) (Boardwork) (Video)
SO(3) Group / Rigid Transformations
Reading - MLS 2.1, 2.2

Calculating Rigid Body Motion
9/5

(Slides) (Boardwork) (Video)
Exponential Map / Rodrigues / Euler Angles
Reading - MLS 2.3

Week 2

Rigid Body Transformations in 3D
9/10

(Slides) (Boardwork 1) (Boardwork 2) (Video)
Quaternions / SE(3) / Twists
Reading - MLS 3.2

Representing Rigid Body Transformations
9/12

(Slides) (Boardwork) (Video)
se(3) / Expontential Map / Screws
Reading - MLS 3.2

Kinematics

Week 3

Screws and Forward Kinematics I
9/17

(Slides) (Boardwork) (Video)
Screws - Twists / Chasle’s / Jointspace + FK
Reading - MLS 3.2

Forward Kinematics II
9/19

(Slides) (Boardwork) (Video)
Product of Exponentials / Examples
Reading - MLS 3.2

Week 4

Inverse Kinematics II
9/24

(Slides) (Boardwork) (Video)
Manipulator Workspace / PK 1
Reading - MLS 3.3

Inverse Kinematics II
9/26

(Slides) (Boardwork) (Video)
Please note that the video is incomplete due to corrupted file
PK 2, 3 / Examples
Reading - MLS 3.3

Vision

Week 5

Computer Vision I
10/1

(Slides) (Boardwork) (Video)
Image Formation and Features
Reading - Textbook Chapter 1, Chapter 2

Midterm
10/3

Week 6

Computer Vision II
10/8

(Boardwork) (Video)
Image Primitives and Correspondence
Reading - Textbook Chapters 3, 4

Guest Lecture - Jacobi Robotics; Guest Lecture - Design Thinking
10/10

(Slides) (Boardwork)

Week 7

Computer Vision III
10/15

(Slides) (Video) (Complete Annotated Slides)
Two-View Geometry
Reading - Textbook

Velocities
10/17

(Slides) (Boardwork) (Video)
Spatial / Body / Angular / Generalized Velocities
Reading - MLS 2.4, 3.4

Velocities and Jacobians

Week 8

Spatial Jacobian
10/22

(Slides) (Boardwork 1) (Boardwork 2) (Video)
Reading - MLS 3.4

Body Jacobian and Singularities
10/24

(Slides) (Boardwork 1) (Boardwork 2) (Video)
Reading - MLS 3.4

Week 9

Motion Planning with Jacobians
10/29

(Slides) (Boardwork) (SVD Slides) (Video)
Singularities / Manipulability / Redundant Manipulators
Reading - MLS 3.4

Introduction to Lagrangian Dynamics in Planar Systems
10/31

(Slides) (Boardwork) (Video)
Reading - MLS 4.2

Dynamics

Week 10

Lagrangian Dynamics of Rigid Bodies and Kinematic Chains
11/5

(Slides) (Boardwork) (Video)

State-Space Modeling and Linear Systems
11/7

(Slides 1) (Slides 2) (Prof. Arcak’s EE16B Reader) (Video) (Boardwork)

Control and Motion Planning

Week 11

Linear Control Theory and LQRs
11/12

(Slides) (Video)

Computed Torque Control and Feedback Linearization
11/14

(Complement) (Slides) (Video)

Week 12

  • Midterm Review Session (Video) (Nima Boardwork)
  • Midterm II on 11/21 in class
  • Work on Final Projects

Gravity Compensation and Task-Space Control
11/19

(Slides 1) (Slides) (Video)

Midterm II
11/21

Week 13

  • Work on Final Projects
  • Enjoy Thanksgiving!

Class Canceled
11/26

(Slides) (Boardwork)

No Class - Thanksgiving Break!
11/28

Week 14

  • Final Project Check-In II due 12/04

Motion Planning
12/3

(Slides) (More Slides)

Miscellaneous Topics (UAVs/Walking/Autonomous Vehicles)
12/5

(Slides) (Boardwork)

Final Projects

Week 15

  • RRR Week: No Lectures
  • Final Project Presentations on Thursday and Friday

Final Project Presentations
12/12
Final Project Presentations
12/12

Week 16

Finals Week - Good luck on your exams!

Final Project Websites due
12/20