UNIVERSITY OF MASSACHUSETTS
Computer Science Department

 

 

    CMPSCI 603

Robotics

Spring 2018    

 

Rod Grupen

 

Date Lecture Content Assignment
1/23 Introduction
Roger-the-Crab Simulator
course information, homework/project environments, unpacking Roger-the-Crab 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 spring-mass-damper, stability    
2/1 Control (cont) harmonic oscillators, Laplace transform, under-, over-, and critical-damping
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, pre-posturing 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 (Newton-Euler equations, outward-inward 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    
3/13-15     Spring Break    
3/20 Exam Review Discussion: the performance limitations of the feedforward compensator, the effect of nonlinearities, nonholonomic constratints, torque limits, Euler integration, Newton-Euler in parallel kinematic systems    
3/22 Redundancy redundant kinematic systems, self-motion 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, proximo-distal, cephalo-caudal, quasistatic-dynamic, 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), co-articulation 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, Q-learning, learning to walk - Thing, policy iteration, DMPs, risk-sensitive policy search    
4/26     Exam II Review    
5/1   Exam II 1:00-2:15 LGRC A310  
5/12   Late Submissions Close  
5/15   Grades Due Midnight  


grupen "at" cs "dot" umass "dot" edu