Table of Contents
2/6 First day of classes
LEC 1: Why study robot dynamics? (video link)
Preparation: Read Chapter 1
Assigned: Assignment 1
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
2/14 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
3/22
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
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
3/22
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
