16-711: Kinematics, Dynamic Systems, and Control
Spring 2011
Instructors: Chris Atkeson, cga at cmu and
Hartmut Geyer, hgeyer at cs
TA: Glenn Wagner, gswagner at andrew
TR 3-4:20 NSH 1305

Course Description
For more information, take a look at last year's course.

Events

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

Textbook:

SSV1 = Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing) by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, and Giuseppe Oriolo, Springer 2009.
Other useful books are:
SSVO = Modelling and Control of Robot Manipulators (Advanced Textbooks in Control and Signal Processing) by Lorenzo Sciavicco and Bruno Siciliano, Springer 2000 (2nd edition).
SHR = Springer Handbook of Robotics 2008, Bruno Siciliano, Oussama Khatib (Eds.)

Resources

Review:
SSV1 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.
Introduction:
SSV1 Ch. 1
Schaal: Introduction
Jan 11: Web page, projects, course intro
Jan. 11: Planar Kinematics:
Wikipedia
Schaal: Kinematics
Jan. 13: Planar Dynamics:
Examples of deriving planar dynamics.
Schaal: Dynamics
Wikipedia: Lagrangian dynamics
Jan 18: Trajectory generation
SSV1 Chapter 4.
Schaal: Trajectory Planning
Jan 18-27: 3D Kinematics, Representing orientation.
SSV1 Ch 2
Schaal: Kinematics
SHR Kinematics
Jan 27-Feb 10: 3D differential kinematics:
SSV1 Ch 3
Feb 15-17: Statics
Feb 22-Mar 3: Dynamics
SSV1 Ch 7
Mar 15-22: 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 24-29: 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 31 - Apr 14: Classical Control, Instability, Laplace Transforms, Root Locus, Performance and Robustness
Schaal:Basic Linear Control Theory I & II, Frequency Domain Analysis
April 19: MIMO Control
linearization, state space, pole placement, controllability, observability, linear quadratic regulator, loop transfer recovery.
Dynamic programming: Ch. 8 of Lavalle's book
DP slides
April 21: Robot Control
SSV1 Ch. 8
April 21: Force Control
SSV1 Ch. 9
April 26: Project Presentations
April 28: Project Presentations

For more information, take a look at last year's course.

Assignments

Assignment 0: Send CGA and HG an email (due Jan 12): 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: Arm control (Due Jan. 17, 24)
Assignment 2: 3D (Due Feb. 14)
Assignment 3: (Due Mar. 4) Send CGA and HG an email: What is your project? Get started on it and send us some preliminary thoughts/results.
Assignment 4: Kalman Filtering (Due Apr. 22)
Project writeups are due for all groups including graduating students May 9. Project writeups are due for all other groups May 13.

For more information, take a look at last year's course.

Lecture Notes

Possible Projects:

Multibody dynamics: Evaluate open dynamics tools for future use in research and education. Useful paper, Useful info. Contact cga.
Dynamic Programming Contact cga.
Control of the new big dog Contact cga.
State sensing using many accelerometers and gyros, for example using this, this, this, this, this, this, this, this, this, this, this, this, this, this, or this. Contact cga.
Human transfer (helping people with disabilities move from bed to chair to car etc.) Contact cga.
Neuro/biomechanical modeling and/or walking. Contact cga or hg.
Hands Contact Nancy Pollard nsp @ cs or cga.
You suggest something.