16-711: Kinematics, Dynamic Systems, and Control
Spring 2017
Instructor: Chris Atkeson, cga at cmu
TR 1:30-2:50 NSH 1305

TAs

• Markvicka Eric, emarkvic@andrew.cmu.edu, Office hours: Tuesday 1130am to 1pm, Scaife Hall 205
Henry Hung, hhung1@andrew.cmu.edu, Office hours: Monday 4-6, Scaife Hall 206

Course Description

For more information, take a look at 2011 course.

Events

• I urge you to attend the CFR seminar series and the RI seminar series.

Readings

• [SHR] Springer Handbook of Robotics 2016, Bruno Siciliano, Oussama Khatib (Eds.)
• [SSVO] Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing) by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo, Springer 2009.
• [MLS] A Mathematical Introduction to Robotic Manipulation R Murray, Z Li and S Sastry, CRC 1994.
• [M] Applied Dynamics F Moon, Wiley-VCH 1998.
• [AM] Feedback Systems: An Introduction for Scientists and Engineers K Astrom and R Murray, Princeton 2010.
• [E] Control System Design Guide G Ellis, Elsevier 2004.<
  [F] Control System Design: An Introduction to State-Space Methods B Friedland, Dover 2005.

Syllabus

• Now: Review this material
  • SSVO Appendices
  • Numerical Recipes in C, chapters 2, 9, 10, 15 (2nd or 3rd edition, 2nd edition is electronically available for free): Solution of Linear Algebraic Equations, Root Finding and Nonlinear Sets of Equations, Minimization or Maximization of Functions, Modeling of Data. This material from any other numerical methods book is also fine.
• January: Read or look at this stuff
  • Schaal: Introduction (A colleague's perspective)
  • SSVO chapter "Introduction" (A textbook's perspective)
  • SSVO chapter "Kinematics"
  • SHR chapter "Kinematics"
  • Wikipedia "Kinematics"
• Jan 17: Course details: Web page, projects, course intro, ...
  
• Jan. 19: Planar Kinematics
  
• Jan. 24: Planar Dynamics
  Schaal: Dynamics: Lagrangian Formulation
  Wikipedia: Lagrangian dynamics
  Scholarpedia: Robot dynamics
• Jan. 26: Planar Statics
  Gravity compensation
  
• Jan. 26: Computer-assisted Dynamics Derivation and Simulators
  Examples of deriving planar dynamics.
  
  Open Dynamics Engine (ODE) Mujoco OpenAI Gym
• Jan 26: Trajectory generation
  SSV0 Chapter 4.
  Schaal: Trajectory Planning
  note to CGA: rant about DMPs.
• Jan 31-Feb 9: Planar Control
  SSVO Ch. 8
  Single link, double link, cart pole, segway, VR shoes.
  LQR
  
• Feb: Dynamic Programming.
  Goal: This is what makes dynamic optimization special.
  Bellman equation,
  slides
• Feb: Linear Quadratic Regulator,
  Goal: An important special case.
  Riccati Equation, Differential Dynamic Programming
• Feb: Ways to reduce the curse of dimensionality
  Goal: Tricks of the trade.
  slides
• Feb: 3D Kinematics, Representing orientation.
  SSV0 Ch 2
  Schaal: Kinematics
  SHR Kinematics
  Rotation matrices, Euler angles, and Quaternions. Metrics for how close two orientations are: Metrics for 3D Rotations: Comparison and Analysis, Rigid-Body Attitude Control: Using Rotation Matrices for Continuous, Singularity-Free Control Laws, Closed-Loop Manipulator Control Using Quaternion Feedback
  Rotation matrix for small rotations
• Feb: 3D differential kinematics:
  SSVO Ch 3
  
• Feb: 3D Statics
  Gravity compensation
  
• Feb-Mar: 3D Dynamics
  SSV0 Ch 7
  
• Mar: Learning Kinematics and Dynamics
  See Dynamic Optimization course for pointers on optimization. The Numerical recipes chapter on modeling of data is useful. Numerical Recipes in C, chapters 2, 9, 10, 15 (2nd or 3rd edition, 2nd edition is electronically available for free): Solution of Linear Algebraic Equations, Root Finding and Nonlinear Sets of Equations, Minimization or Maximization of Functions, Modeling of Data.
• March: State Estimation
  Schaal: Kalman Filtering
  Review of Gaussians slides
  State estimation slides
  Matlab Kalman filter example and minimum jerk trajectory subroutine.
  Example mobile robot Kalman filter slides
  
• Mar - Apr: Classical Control, Instability, Laplace Transforms, Root Locus, Performance and Robustness
  Schaal:Basic Linear Control Theory I & II, Frequency Domain Analysis
• April: MIMO Control
  linearization, state space, full state feedback/pole placement, controllability, observability, linear quadratic regulator, Linear-quadratic-Gaussian control (LQG), separation principle (certainty equivalence), Example of bad interactions, Loop Transfer Recovery (LTR).
  
• April: Robot Control
  SSVO Ch. 8
  
• April: Force Control
  SSVO Ch. 9
  
• May 2: Project Presentations
  
• May 4: Project Presentations
  

Assignments

• Assignment 0: Send CGA an email (due Jan 20): Who are you? Why are you here? What research do you do? Any project ideas?
  Be sure your name is obvious in the email, and you mention the course name or number. We teach more than one course, and a random email from robotlover@cs.cmu.edu is hard for us to process.
• Assignment 1: Inverse Kinematics (Due Jan. 30)
  Use Matlab and optimization
  Using Matlab's fminsearch and fminunc. Using Matlab's fminsearch and fminunc, with desired posture. Using Matlab's fmincon.
  Covariance Matrix Adaptation Evolution Strategy. See also Hansen web page. Example1, Ex2, Ex3, Ex4. Open Dynamics Engine (ODE), Mujoco, Open AI Gym
• Assignment 2: Exercise Dynamics, Control, and "Learning": Cart Pole (Due Feb. 20)
  
• Assignment 3: Exercise 3D stuff (Due Mar. 27)
  
• Assignment 4: Exercise Kalman Filter (Due Apr. 10)