Course Calendar

Week 1 - Rigid Body Motion, Kinematics, Lagrangian Dynamics of Robots (Review of C106A/206A)

Course Logistics, New Vistas
1/19

(Logistics Slides) (Slides) (Video) (Scribe Notes)
Reading - MLS 2.1-2.5, 3.1-3.3
Optional Reading - MLS Appendix A.3

Linear Control
1/21

(Slides) (Boardwork) (Video) (Scribe Notes)
Reading - MLS Ch 3.4, 4.1-4.3

Week 2 - Introduction to Basic Lyapunov Stability and Nonlinear Control

Introduction to Control - Stability, Lyapunov Methods
Stability, Lyapunov Equations
1/28

(Slides) (Boardwork) (Video) (Scribe Notes)
Reading - MLS 4.4

Week 3 - Concepts for Steering Nonholonomic Systems

Feedback Linearization, Computed Torque Control, Robust Control
Nonholonomic systems, Pfaffian Systems, Frobenius and Chow
2/4

(Slides) (Video) (Scribe Notes)
Reading - MLS Chapter 7

Week 4 - Path Planning for Nonholonomic Systems

  • Discussion 4: Combining geometric path planning with steering (Worksheet) (Video)
Steering Model Control Systems; Sinusoids and Constructive Controllability
2/9

(Slides) (Video) (Scribe Notes)
Reading - MLS Chapter 8

Steering cars with N trailers, Nonholonomic Systems
2/11

(Slides) (Video) (Scribe Notes)
Reading - MLS

Week 5 - Path planning for Nonholonomic Systems

Optimal Control, Model Predictive Control
2/16

(Video) (Scribe Notes)
Reading

Chapters 1 and 2 of MaSKS
2/18

(Slides) (Video) (Scribe Notes)
Reading - MaSKS Ch 1, 2

Week 6 - Image Formation and Photometry (Review of C106A/206A)

Rigid Body Motion and Imaging Geometry
2/23

(Slides) (Video) (Scribe Notes)
Reading - MaSKS Ch 1, 2

Feature Detection Chapter 4 of MaSKS
2/25

(Slides) (Video) (Scribe Notes)
Reading - MaSKS Ch 4

Week 7 - Two View Geometry & Multiple Views

Epipolar Equations, Two View Geometry, Linear and Nonlinear Two-view geometry
3/2

(Slides) (Video) (Scribe Notes)
Reading - MaSKS Ch 5

Uncalibrated Two-View Geometry and Calibration
3/4

(Slides) (Video) (Scribe Notes)
Reading - MaSKS Ch 6

Week 8 - Multiple Views

Geometry and Algebra of Multiple Views
3/9

(Slides) (Video) (Scribe Notes)
Reading - MaSKS Ch 8 & 9

Multiple-View Reconstruction from Scene Knowledge
3/11

(Slides) (Video) (Scribe Notes)
Reading - MaSKS Ch 9 & 10

Week 9 - Learning and Applications

Learning to Detect Structures for 3D Reconstruction
3/16

(Video) (Scribe Notes)
Reading - MaSKS Ch8-10

Applications of 3D Vision (AR/VR)
3/18

(Slides) Video) (Scribe Notes)

Week 10 - Spring Break

Spring Break (No Class)
3/23

Stay safe!

Spring Break (No Class)
3/25

Stay safe!

Week 11 - Introduction to Grasping

Types and models of contact, modeling grasp by multi-fingered hands
3/30

(Slides) (Video) (Scribe Notes)
MaSKS Ch 11 and Appendix B

Grasp Stability, Manipulability, Grasp Planning
4/1

(Video) (Scribe Notes)
MaSKS Ch 11 and Appendix B

Week 12 - Manipulation of Grasped Objects & SLAM

Hand Dynamics and Control
4/6

(Slides) (Video) (Scribe Notes)

Structure from Motion and SLAM I (Amay Saxena)
4/8

(Slides) (Video) (Scribe Notes)

Week 13 - Guest Lectures

Structure from Motion and SLAM II (Amay Saxena)
4/13

(Slides) (Video) (Scribe Notes)

Dex-Net (Professor Ken Goldberg)
4/15

(Slides) (Video) (Scribe Notes)

Week 14 - Intro to Legged Robots

  • Intermediate project presentations due April 18th 11:59pm
  • Peer Reviews due April 21st 11:59pm
Introduction to Legged Robots, Modeling and dynamics of legged robots (Professor Koushil Sreenath)
4/20

(Slides) (Video) (Scribe Notes)

Control of Legged Robots (Professor Koushil Sreenath)
4/22

(Slides) (Video) (Scribe Notes)

Week 15 - Legged Robots & UAVs

Dynamics of UAVs & quadrotors - examples of use of UAVs
4/27

(Slides) (Video) (Scribe Notes)

Dynamics of UAVs & quadrotors - flat coordinates and path planning
4/29

(Slides) (Video) (Scribe Notes)

Week 16

  • RRR Week: No Lectures
Final Project Showcase
5/6

Week 17

  • Good luck on your exams!
Finals Week
5/14

Final Project Report and Website Due