16-743: Robot Control
Homework Page
Motivation
In this course, there is a large emphasis on the problem sets. The
problem sets will give the student important experience in
implementing control algorihtms, choosing control parameters, and
analyzing the stability and performance of the control
algorithms studied in class.
Grading
All the problem sets carry an equal weight in the
total grade, for a total of 50% of the final grade (the other 50% is
determined by the midterm and final exams).
Homeworks are worth full credit when turned in at the beginning of the
on the due date; they are worth half credit after that.
Stewart Moorehead will be responsible for the grading of the
homeworks. You can talk to me (paredis@cmu.edu) or contact Stewart
directly (sjm@cs.cmu.edu) with your questions regarding grading or
homework solutions.
Stewart and I will also be available during office hours to provide
help and answer questions regarding the homeworks. Don't hesitate to
come and see us.
Assignments
- Homework 1:
- Topic: Mathematical preliminaries
- Due: January 27
- Homework 2:
- Topic: Local redundancy resolution
- Due: February 17
- Homework 3:
- Topic: Individual Joint PID Control
- Due: March 17
- Homework 4:
- Topic: Computed Torque Control
- Due: April 2
- Homework 5:
- Topic: Optimal Control
- Due: April 14
- Homework 6:
- Topic: Sliding mode control + Adaptive Control
- Due: April 28
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