16-264: Kinematics, Dynamic Systems, and Control
Spring 2007
Mondays/Wednesdays 3-4:20
Porter 226B
Instructor: Chris Atkeson, cga @ cs
TA: Matthew McNaughton, mmcnaugh at cs
TA's page

Project presentations May 16, 3-6. NSH 3002

Review:
S&S Appendix A
Appendix on Linear Algebra
Numerical Recipes in C, chapters 2, 9, 10, 15
Introduction:
S&S Ch. 1
Hollerbach: Introduction
Schaal: Introduction
Jan 22: 1D Trajectory generation
S&S 185-192
Hollerbach: Trajectory Planning
Schaal: Trajectory Planning
Jan 22: Simulation:
Ch. 16 Integration of Ordinary Differential Equations in Numerical Recipes in C
Jan 24: Policy search/optimization:
Ch. 10 Minimization or Maximization of Functions in Numerical Recipes in C
Jan 29 and 31: More Dynamic Planning:
Dynamic programming: Ch. 8 of Lavalle's book
A*. Ch. 2 of Lavalle's book
RRT, Ch. 5 of Lavalle's book
Feb. 5 and 7: Control:
S&S Ch. 6
Schaal:Basic Linear Control Theory I & II, Frequency Domain Analysis
Feb. 19: Planar Kinematics:
S&S Ch. 2, 3
Hollerbach: Planar (2D) Transformations and Displacements
Hollerbach: Kinematics
Schaal: Kinematics
Feb. 21: Planar Dynamics:
Hollerbach: Statics
Hollerbach: Dynamics
Schaal: Dynamics
Feb. 26: Representing rotations:
S&S Ch. 2 21-38
Hollerbach: Spatial (3D) Transformations and Displacements
Feb. 28, Mar. 5: 3D Dynamics:
S&S Ch. 4
Hollerbach: Statics
Hollerbach: Dynamics
Schaal: Dynamics
Mar. 7: Actuators and Sensors
S&S Ch. 8
Schaal: Sensors & Actuators, Filtering
Mar. 19: State Estimation
Schaal: Kalman Filtering
Mar. 21: Kinematic and Dynamic Parameter Estimation
S&S sections 2.11 and 4.4
Mar. 26: Force Control
S&S Ch. 7
Schaal: Force Control