EECS C106B/206B | Robotic Manipulation and Interaction

Spring 2023 | Instructor: Professor Shankar Sastry

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Week 14

• Homework 5: Grasping due Tuesday

• Midterm (on Ed) due next Monday 4/24

• Project 4, due 4/28 with free slip days

• Discussion 11: Optimal Control and Reinforcement Learning

• Homework 6: Optimal Control and Reinforcement Learning, due Sunday 5/7

• Paper presentations continue

Jump to Week 14

All Announcements

Course Calendar

All lecture videos can be found on bCourses

Week 1 - New Vistas in Robotics and Linear Control

• Discussion 1: Dynamical Systems & Linear Control (Worksheet) (Boardwork) (Video) (Solutions)
• Homework 1: Dynamical Systems (due 1/24)
• Project 1A: Trajectory Tracking with Sawyer (due 1/31): Intro Video
• Lab Slides
• Optional Project 0 (ROS Review)
• Assessment (if you haven’t taken 106A - due 1/20)
• “Reading a scientific or engineering paper”, presented by Professor Terry Johnson
• “How to read all of research (a lit review)” - presented by David McPherson

Course Logistics, New Vistas in Robotics

1/17

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

Introduction to Control with Quadrotors

1/19

(Slides)
Reading - MLS Ch 3.4, 4.1-4.3

Week 2 - Introduction to Basic Lyapunov Stability and Nonlinear Control

• Discussion 2: Lyapunov Stability (Worksheet) (Boardwork) (Video) (Solutions)
• Homework 2: Controls (due 2/7) (PDF)
• Lab Slides
• Robot Usage Guide

Introduction to Linear Control

1/24

(Slides) (Boardwork)
Reading - MLS 4.5

Lyapunov Control and Intro to Feedback Linearization

1/26

(Slides) (Boardwork)
Reading - MLS 4.4 and Chapter 8

Week 3 - Feedback Linearization

• Discussion 3: Nonlinear Controls and Stability (Worksheet) (Boardwork) (Video) (Solutions)
• Project 1B: Trajectory Tracking with Sawyer (due 2/14)
• Lab Slides

Feedback Linearization

1/31

(Slides) (Boardwork)
Reading - Sastry 1999, Chapter 8

Multi-Input Feedback Linearization

2/2

(Boardwork) (Sp22 3D Quadrotor)
Reading - MLS Chapter 7

Week 4 - Multi-Input Feedback Linearization and Nonholonomic Systems

• Discussion 4: Model Predictive Control (Worksheet) (Boardwork) (Video) (Solutions)
• Homework 3: Path Planning (due 2/22) (PDF)

Multi-Input Feedback Linearization with Dynamic Extension, Application to Planar Quadrotors

2/7

(Boardwork) (Video)
Reading - MLS Chapter 8

Introduction to Nonholonomic Motion Planning

2/9

(Slides) (Boardwork) (Video)
Reading - MLS

Week 5 - Steering and Controllability

• Discussion 5: Nonholonomic Steering (Worksheet) (Boardwork) (Video) (Solutions)
• Project 2: Nonholonomic Control (due 3/7) (Slides)

Controllability and the Frobenius Theorem

2/14

(Slides) (Boardwork)

Steering, Optimal Control, and MPC

2/16

(Slides) (Boardwork)

Week 6 - Steering with Sinusoids and SLAM

• Discussion 6: Probability and Computer Vision (Worksheet) (Boardwork) (Video) (Solutions)

Steering with Sinusoids

2/21

(Slides) (Boardwork) (Video)

SLAM Part 1 (with Frank Chiu)

2/23

(Slides) (Boardwork) (Video)

Week 7 - SLAM

• Discussion 7: SLAM (Worksheet) (Boardwork) (Video) (Solutions)

SLAM Part II (with Frank Chiu)

2/28

(Slides) (Boardwork) (Video)

SLAM Part III (with Frank Chiu)

3/2

(Slides) (Boardwork) (Video)

Week 8 - Contacts and Grasping

• Discussion 8: Midsemester Review (Worksheet) (Boardwork) (Video) (Solutions)
• Homework 4: Computer Vision, SLAM, and Kalman Filtering (due 3/21)

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

3/7

(Slides) (Boardwork) (Video)

Grasp Stability, Manipulability, Grasp Planning

3/9

(Slides) (Boardwork) (Video)

Week 9 - Grasping and Hands

• Discussion 9: Grasping (Worksheet) (Solutions)
• Project 3: State Estimation (due 4/7)

Grasping Control

3/14

(Slides) (Boardwork) (Video)

Hand Dynamics and Control

3/16

(Slides) (Boardwork) (Video)

Week 10 - Finishing Grasping, CBFs

Grasping Control

3/21

(Slides) (Boardwork) (Video)

CBFs (with Jason Choi)

3/23

(Slides) (Boardwork) (Video)

Week 11 - Spring Break

Spring Break (No Class)

3/23

Stay safe!

Spring Break (No Class)

3/25

Stay safe!

Week 12 - Dex-Net and Soft Robots

• Discussion 10: Control Barrier Functions (Worksheet) (Boardwork) (Video) (Solutions)
• Homework 5: Grasping (due 4/18)

Dex-Net (Professor Ken Goldberg)

4/4

(Slides) (Boardwork) (Video)

Soft Robotics Part I (Isabella Huang)

4/6

(Slides) (Boardwork) (Video)

Week 13 - More Soft Robots and RL

• Final Project Guidelines
• No discussion this week
• Project 4: Decentralized Multi-Agent Control (due 4/28) (Slides)(Video)

Soft Robotics Part II (Isabella Huang)

4/11

(Slides) (Boardwork) (Video)

Optimal Control and RL

4/13

(RL Intro Slides) (Boardwork) (Video)

Week 14 - Intro to Legged Robots

• Midterm
• Discussion 11: Optimal Control and Reinforcement Learning (Worksheet) (Video) (Boardwork Part 1)
• Homework 6: Optimal Control and Reinforcement Learning, due 5/7

Introduction to Legged Robots, Modeling and Dynamics of Legged Robots (Jason Choi)

4/18

(Slides) (Boardwork) (Video)

Control of Legged Robots (Bike Zhang)

4/20

(Slides) (Boardwork) (Video)

Week 15 - The Future Is Now

• Continue final projects

Autonomous Cars (feat. Ritika Srivastava)

4/25

(Slides) (Boardwork) (Video)

AR/VR (feat. Prof. Allen Yang)

4/27

(Slides) (Boardwork) (Video)

Week 16

• RRR Week: No Lectures

Final Project Showcase

5/5

Week 17

• Good luck on your exams!

Finals Week

5/12

Final Project Report and Website Due