
UNIVERSITY OF MASSACHUSETTS


CMPSCI 603 
Robotics 
Spring 2018 


Date  Lecture  Content  Assignment 

1/23 
Introduction RogertheCrab Simulator 
course information, homework/project environments, unpacking RogertheCrab 
reading: Prog Exercises Sections 1 and 2 Chapters 1&2  Introduction & Actuators preparation: VM/Linux/Roger installation complete by Thursday, 1/25 
1/25  Actuators  muscle, stepper motors, DC motors, gear boxes implementing basic motor units, hydraulic/pneumatic actuators, emerging actuator technologies, informal introduction to PD control 
assignment
#1: due Thursday 2/8 Written Exercises  Chapter 1 problems 1, 2 Written Exercises  Chapter 2 problems 2, 3, 4 Programming Project #1  3.1.1, 2, 3 reading: Chapter 3  Control Appendix A.10.2 
1/30  Linear Control  motor nuclei, negative feedback, the springmassdamper, stability  
2/1  Control (cont)  harmonic oscillators, Laplace transform, under, over, and criticaldamping  
2/6  Control (cont)  boundary value problems, transfer functions, frequency response  
2/8  Kinematics  mechanisms, spatial descriptions of a task homogeneous transform  composition and inverse, forward & inverse kinematics 
assignment
#2: due Thursday 2/22 Written Exercises  Chapter 3 problems 2, 3, 4, 9 Written Exercises  Chapter 4 problems 1, 2, 3, 4, 8 Programming Project  3.2, 3.3 reading: Chapter 4  Kinematics 
2/13  Kinematics (cont)  the manipulator Jacobian (velocity and force domain), Principal Kinematic transformations (eigenvectors, quadratic forms)  
2/15  Kinematics (cont)  manipulability, stereo oculomotor Jacobian, stereo localizability  
2/20  Kinematics (cont)  implementation  manipulability and localizability for Roger, scaling, preposturing for acuity 
reading: Chapter 5  Dynamics optional: Appendix B.1 and B.2 
2/22  Dynamics I  Newton's laws, inertia tensors, rotating coordinate systems, computed torque equation 
assignment #3:
due Tuesday, 3/6 Written Exercises  Chapter 5 problems 6, 7 Programming Project 3.1.4 
2/27  Dynamics (cont)  deriving computed torque equations (NewtonEuler equations, outwardinward equations, Lagrangian equations)  
3/1  Dynamics (cont)  applications of the computed torque equation: simulation, control, the acceleration ellipsoid  
3/6  Review Exam I  
3/8  Exam I  
3/1315  Spring Break  
3/20  Exam Review  Discussion: the performance limitations of the feedforward compensator, the effect of nonlinearities, nonholonomic constratints, torque limits, Euler integration, NewtonEuler in parallel kinematic systems  
3/22  Redundancy  redundant kinematic systems, selfmotion manifold, pseudoinverse 
reading: Section 4.8, Chapter 11
(thru 11.1.1) assignment #4: due Tuesday, 4/3 Written Exercises  11.5.1 (a), 11.5.4, 10.6.1 Programming  Project #4  SearchTrack() Project #5  StereoKinematics() 
3/27  Developmental Learning  neurological organization in human sensorimotor development, the first 12 months, developmental reflexes, maturational processes, proximodistal, cephalocaudal, quasistaticdynamic, developmental chronology, Thelen's ontogenetic landscape  reading: Chapter 10 
3/29  Control Basis I  potential functions, differential structure, critical points, convex functions, harmonic functions, navigation functions, an action architecture, navigation functions  reading: Section 11.1.1, 11.1.2 
4/3  Control Basis II  state and dynamics, grasp example, a landscape of attrctors, parameterizing the landscape, funnels, actions (postural, search, track), coarticulation 
reading:
Chapter 11.2.2, 11.2.3, 11.2.4 (thru EXAMPLE
p. 257), 11.2.5, Chapter 6 assignment #5: due Tuesday, 4/19 Written  6.3.1, 6.3.3, 6.3.4 Programming  Project #7  ChaseTouch() 
4/5  Grasping  robot hands, mobility analysis, form closure  
4/10  Grasping (cont)  contact types, object wrenches, the Grip Jacobian, force closure  
4/12  Grasping (cont)  feedback grasp control  reading: Chapter 11.2.6, 11.3, 11.4 
4/17  Virtual Monday  No Class  
4/19  11th hour Assignment #5 discussion, hierarchy 
reading: assignment #6: due Tuesday, 5/1 Programming  Project #9  Grasp()  
4/24  Control Basis III  Markov Decision Processes, Bellman Equation, Reinforcement Learning (RL), value iteration, Qlearning, learning to walk  Thing, policy iteration, DMPs, risksensitive policy search  
4/26  Exam II Review  
5/1  Exam II 1:002:15 LGRC A310  
5/12  Late Submissions Close  
5/15  Grades Due Midnight 