MIT 6.832 (Underactuated Robotics), Spring 2018

MIT 6.832 (Underactuated Robotics), Spring 2018

Table of Contents

2/6  First day of classes
LEC 1: Why study robot dynamics? (video link) 

Preparation: Read Chapter 1
Assigned: Assignment 1

• Part A: Install software for the class
• Part B: Written component.

More in-depth discussion of dynamics: MIT 2.003SC Engineering Dynamics

2/8

LEC 2: Nonlinear Dynamics

Preparation: Read Chapter 2

(First assignment written component released.)

More in-depth discussion of nonlinear dynamics:

Text book (Amazon)
Nonlinear Dynamics And Chaos: With Applications To Physics, Biology, Chemistry, And Engineering (Studies in Nonlinearity) 1st Edition

Youtube Video on lectures given at Cornel
MAE5790-1 Course introduction and overview

2/13
LEC 3: Dynamic Programming
Preparation: Read Chapter 8

2/14 DUE: Assignment 1

2/15
LEC 4: Dynamic Programming II 

2/21
Assigned: Assignment 2

2/22
LEC 5: Acrobots, Cart-poles, and Quadrotors 
Preparation: Read Chapter 3
Preparation: Read Chapter 9

2/27
LEC 6: Acrobots, Cart-poles, and Quadrotors

2/28 DUE: Assignment 2

3/1
LEC 7: Algebraic methods for analysis and control design I

3/6
LEC 8: Algebraic methods for analysis and control design II

3/8
Assigned: Assignment 3


3/15
LEC 9: Trajectory Optimization

3/16 DUE: Assignment 3

3/20
Midterm exam during lecture time in regular lecture room.
Scope: Lectures 1 through 10

3/22
LEC 10: Simple models of walking/running

4/3
LEC 11: Computational methods for walking/running

4/5
Assigned: Assignment 4
LEC 12: Planning + Control Through Contact (Part I: the Hybrid System View)

4/10
LEC 13: Planning + Control Through Contact (Part II: Floating-base models and Time-Stepping)

4/11 DUE: Assignment 4 (includes Project Proposal)

4/12
LEC 14: Humanoid Robots

4/19
LEC 15: Perception for Manipulation

4/24
LEC 16:Global motion planning

4/25 DUE: Project Update #1

4/26
Assigned: Assignment 5
LEC 17:Global policies from local policies

5/1
LEC 18: Stochastic/Robust Control

5/2 DUE: Assignment 5

5/3
LEC 19: Stochastic/Robust Control

 5/8
LEC 20: Reinforcement Learning I

5/9 DUE: Project Update #2

5/10
LEC 21: Reinforcement Learning II

5/15
Final project presentations

5/17
Final project presentations

5/18
DUE: Project reports and code