EECS C106B/206B | Robotic Manipulation and Interaction

Spring 2024 | Instructor: Professor Shankar Sastry

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Week 15

• Work on Final Projects
• Paper presentations continue

Jump to Week 15

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)
• Optional Project 0 (ROS Review)
• “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

1/18

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

New Vistas in Robotics (Continued)

1/20

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

Week 2 - Introduction to Basic Lyapunov Stability and Nonlinear Control

• Discussion 2: Lyapunov Stability and Optimization (Worksheet) (Boardwork) (Video) (Solutions)
• Homework 2: Controls (PDF)
• Project 1: Visual Servoing (PDF) due 2/2!
• Lab Slides

Introduction to Linear Control

1/23

(Slides Pt 1) (Slides Pt 2) (Boardwork)
Reading - MLS 4.5

Lyapunov Control and Intro to Feedback Linearization

1/25

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

Week 3 - Feedback Linearization

• Discussion 3: Nonlinear Controls and Stability (Worksheet) (Boardwork & Video) (Solutions)
• Project 1 due Friday (2/2) and make sure to fill out the Team Signup Form

Feedback Linearization

1/30

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

Multi-Input Feedback Linearization

2/1

(Boardwork)
Reading - MLS Chapter 7

Week 4 - Multi-Input Feedback Linearization and Nonholonomic Systems

• Discussion 4: Model Predictive Control (Worksheet) (Video) (Solutions)
• Project 2 (due 2/23) (PDF)
• Journal Club Slides (Slides)

Introduction to Nonlinear Control

2/6

(Slides) (Boardwork)
Reading - MLS Chapter 8

Dynamic Extension, Application to Quadrotors

2/8

(Slides) (Boardwork)
Reading - MLS

Week 5 - Steering and Controllability

• Discussion 5: Nonholonomic Steering (Worksheet) (Sp23 Boardwork) (Sp23 Video) (Solutions)
• Homework 3: Path Planning (due 2/26) (PDF) (Code)
• Project 2: Nonholonomic Control (due 2/23) (Slides)

Controllability and the Frobenius Theorem

2/13

(Slides) (Boardwork)

Steering, Optimal Control, and MPC

2/15

(Slides) (Boardwork)

Week 6 - Steering with Sinusoids and Grasping

• Homework 3 due 2/26
• Project 2 has been extended – now due 2/27!
• Discussion 6: Grasping (Worksheet) (Boardwork) (Solutions) (Video)

Steering with Sinusoids

2/20

(Slides) (Boardwork) (Video)

Finish Steering, Grasping Part I

2/22

(Slides) (Boardwork) (Video)

Week 7 - Grasping

• Discussion 7: Probability and Computer Vision (Worksheet) (Boardwork) (Video) (Solutions)

Grasping Part II

2/27

(Slides) (Boardwork) (Video)

Grasping Part III

3/1

(Slides) (Boardwork) (Video)

Week 8 - Vision and Grasping

• Discussion 8: Kalman Filtering (Worksheet) (Boardwork) (Video) (Solutions)
• Project 3: State Estimation (due 3/22)
• Project 4: Grasping (due 3/22)
• Homework 4: Grasping (due 3/15)

Michael Psenka Guest Lecture (3D Vision)

3/5

(Slides) (Boardwork) (Video)

Ken Goldberg Guest Lecture (Modern Grasping)

3/7

(Slides) (Boardwork) (Video)

Week 9 - SLAM

• Discussion 9: SLAM (Worksheet) (Boardwork) (Video) (Solutions)
• Project 3: State Estimation PDF (due 3/22, submissions accepted until 4/3)
• Project 4: Grasping PDF (due 4/3)
• Homework 4: Grasping PDF (due 3/15)

SLAM Part I

3/12

(Slides) (Boardwork) (Video)

SLAM Part II

3/14

(Slides) (Boardwork) (Video)

Week 10 - OC + SLAM

• No discussion this week!
• Project 3: State Estimation PDF (due 3/22, submissions accepted until 4/3)
• Project 4: Grasping PDF (due 4/3)

Introduction to Optimal Control

3/19

(Slides) (Boardwork) (Video)

Amay Saxena Guest Lecture (SLAM)

3/21

(Slides) (Boardwork) (Video)

Week 11 - Spring Break

Spring Break (No Class)

3/26

Have fun!

Spring Break (No Class)

3/28

Have fun!

Week 12 - CBFs and RL

• Homework 5: Vision and State Estimation (PDF)
• Project 3: State Estimation PDF (due 3/22, submissions accepted until 4/2)
• Project 4: Grasping PDF (due 4/3)
• Final Project Guidelines
• Discussion 10: Control Barrier Functions (Worksheet) (Boardwork) (Video) (Solutions)

Jason Choi Guest Lecture (CBFs)

4/2

(Slides) (Boardwork) (Video)

Reinforcement Learning

4/4

(Slides) (Boardwork) (Video)

Week 13 - AI

• Allen Yang’s Guest Lecture on Tuesday is Titled: Bridging Artificial General Intelligence and Artificial General Autonomy via High-Precision Digital Twin Modeling and New Human Interaction Modalities
• Homework 5: Vision and State Estimation (PDF)
• Project 5 (PDF)
• Final Project Guidelines PDF - Proposals due 4/19
• Discussion 11: Optimal Control and Reinforcement Learning (Worksheet) (Video) (Boardwork)

Allen Yang Guest Lecture

4/9

(Slides) (Boardwork) (Video)

AI Racing Tech Guest Lecture

4/11

(Slides) (Boardwork) (Video)

Week 14 - Soft Robots & Intro to Legged Robotics

• Homework 5: Vision and State Estimation (PDF) due 4/16
• Project 5 (PDF) due 4/18 with 2 free slip days
• Final Project Guidelines PDF - Proposals due 4/19
• Discussion 12: Semester Review (Worksheet) (Video) (Boardwork)

Soft Robotics

4/16

(Slides) (Boardwork) (Video)

Prof. Koushil Sreenath Guest Lecture

4/18

(Slides) (Boardwork) (Video)

Week 15 - The Future Is Now

• Continue final projects

Prof. Koushil Sreenath Guest Lecture

4/23

(Slides) (Boardwork) (Video)

UAV Group

4/25

(Slides) (Boardwork) (Video)

Week 16

• RRR Week: No Lectures

Final Project Showcase

5/3

Week 17

• Good luck on your exams!

Finals Week

5/10

Final Project Report and Website Due