Course Calendar

Week 1 - Rigid Body Motion, Kinematics, Lagrangian Dynamics of Robots (Review of C106A/206A)

• Discussion 1: Review of rotations, rigid body motions, kinematics, inverse kinematics (Worksheet) (Boardwork) (Solutions) (Video)
• Homework 0: Optional MATLAB Bootcamp We recommend you use MATLAB Online if you don’t already have MATLAB installed. Note that we will be moving away from MATLAB and to Python instead this semester.
• Homework 1: Review (due 2/2)
• Project 1A: Trajectory Tracking with Baxter (Project Doc) (Lab Slides)

Course Logistics, New Vistas

1/18

(Slides) (Video)
Reading - MLS 2.1-2.5, 3.1-3.3
Optional Reading - MLS Appendix A.3

Linear Control

1/20

(Slides) (Video) (Scribe Notes)
Reading - MLS Ch 3.4, 4.1-4.3

Week 2 - Introduction to Basic Lyapunov Stability and Nonlinear Control

• Discussion 2: Review of velocities and Jacobians (Worksheet) (Boardwork) (Solutions) (Video)
• Lab Slides
• Robot Usage Guide
• “Reading a scientific or engineering paper” - presented by Professor Terry Johnson
• “How to read all of research (a lit review)” - presented by David McPherson

Introduction to Control - Stability, Lyapunov Methods

1/25

(Slides) (Boardwork) (Video) (Scribe Notes)
Reading - MLS 4.5

Stability, Lyapunov Equations

1/27

(Slides) (Boardwork) (Video) (Scribe Notes)
Reading - MLS 4.4

Week 3 - Concepts for Steering Nonholonomic Systems

• Discussion 3: Lyapunov stability (Worksheet) (Video Walkthrough) (Live Video) (Solutions) (Boardwork)
• Homework 2: Controls (due 2/11)
• Lab 0: Review of Robot Operating System (Lab Doc)
• Project 1B: Trajectory Tracking with Baxter (Project Doc) (Lab Slides)

Feedback Linearization, Computed Torque Control, Robust Control

2/1

(Slides) (Video) (Scribe Notes)
Reading - MLS Chapter 5

Nonholonomic systems, Pfaffian Systems, Frobenius and Chow

2/3

(Slides) (Video) (Scribe Notes)
Reading - MLS Chapter 7

Week 4 - Path Planning for Nonholonomic Systems

• Discussion 4: Combining geometric path planning with steering (Worksheet) (Video) (Work) (Solutions)

Steering Model Control Systems; Sinusoids and Constructive Controllability

2/8

(Slides) (Video) (Scribe Notes)
Reading - MLS Chapter 8

Steering cars with N trailers, Nonholonomic Systems

2/10

(Slides) (Video) (Scribe Notes)
Reading - MLS

Week 5 - Path planning for Nonholonomic Systems

• Discussion 5: Path Planning (Worksheet) (Video) (Solutions)
• Homework 3: Path Planning (due 2/28)
• Project 2: Nonholonomic Control with Turtlebots (Project Doc) (Lab Slides)

Optimal Control & Reinforcement Learning, Beginning Vision

2/15

(Slides) (Video) (Scribe Notes)
Reading

Chapters 1 and 2 of MaSKS

2/17

(Slides) (Video) (Scribe Notes)
Reading - MaSKS Ch 1, 2

Week 6 - Image Formation and Photometry (Review of C106A/206A)

• Discussion 6: Basics on Image Formation (Worksheet) (Video) (Solutions)

Rigid Body Motion and Imaging Geometry

2/22

(Slides) (Video) (Scribe Notes)
Reading - MaSKS Ch 1, 2

Feature Detection, Chapter 4 of MaSKS

2/24

(Slides) (Video) (Scribe Notes)
Reading - MaSKS Ch 4

Week 7 - Two View Geometry & Multiple Views

• Discussion 7: Computations for Two View Geometry (Worksheet) (Video) (Solutions)
• Homework 4: Vision (due 3/20)

Epipolar Equations, Two View Geometry, Linear and Nonlinear Two-view geometry

3/1

(Slides) (Video) (Scribe Notes)
Reading - MaSKS Ch 5

Calibration; Geometry and Algebra of Multiple Views

3/3

(Slides) (Video) (Scribe Notes)
Reading - MaSKS Ch 6, 8, 9

Week 8 - Multiple Views

• Discussion 8: Algorithms for Multi-view Geometry (Worksheet) (Video) (Solutions)
• Final Project Guidelines
• Previous Years’ Final Projects

Multiple-View Reconstruction from Scene Knowledge

3/8

(Slides) (Video) (Scribe Notes)
Reading - MaSKS Ch 9 & 10

Reconstruction cont.

3/10

(Slides) (Video) (Scribe Notes)
Reading - MaSKS Ch 9 & 10

Week 9 - Grasping

Types and models of contact, modeling grasp by multi-fingered hands

3/15

(Slides) (Video) (Scribe Notes)
MLS Ch 11 and Appendix B
Please note that there is the Course Capture video on bCourses as well since Prof. Sastry gestured a lot

Grasp Stability, Manipulability, Grasp Planning

3/17

(Slides) (Video) (Scribe Notes)
MLS Ch 11 and Appendix B

Week 10 - Spring Break

Spring Break (No Class)

3/22

Stay safe!

Spring Break (No Class)

3/24

Stay safe!

Week 11 - Manipulation of Grasped Objects

• Discussion 9: Grasping (Worksheet) (Video)
• Project 3: Grasp Planning (Project Doc) (Intro Video) (Video Slides)

Hand Dynamics and Control

3/29

(Slides) (Video) (Scribe Notes)

Soft Robots Pt 1 (Isabella Huang)

4/1

(Slides) (Video) (Scribe Notes)

Week 12 - Soft Robotics, SLAM

Soft Robotics Pt 2 (Isabella Huang)

4/5

(Slides) (Video) (Scribe Notes)

SLAM, Part I (Frank Chiu, Ritika Shrivastava)

4/7

(Slides) (Video) (Scribe Notes)

Week 13 - Special Topics

• Project 4: Soft Robotics (Project Doc) (Lab Slides) (Video)

SLAM, Part II (Frank Chiu, Ritika Shrivastava)

4/12

(Video) (Scribe Notes)

Dex-Net (Prof. Ken Goldberg)

4/14

(Video) (Scribe Notes)

Week 14 - Intro to Legged Robots

• Intermediate project presentations due April 17th 11:59pm
• Peer Reviews due April 20st 11:59pm

Introduction to Legged Robots, Modeling and dynamics of legged robots (Professor Koushil Sreenath)

4/19

(Slides) (Video) (Scribe Notes)

Control of Legged Robots (Professor Koushil Sreenath)

4/21

(Slides) (Video) (Scribe Notes)

Week 15 - UAVs

Autonomous Driving (Amay Saxena)

4/26

(Slides) (Video) (Scribe Notes)

No Lecture

4/28

Good luck on your final projects!

Week 16

• RRR Week: No Lectures

Final Project Showcase

5/5

Final Project Showcase

5/6

Week 17

• Good luck on your exams!

Finals Week

5/13

Final Project Report and Website Due

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