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UNIVERSITY OF MASSACHUSETTS
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CMPSCI 403 |
Foundations of
Robotics |
Fall 2020 |
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Date | Lecture | Content | Assignment |
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8/24 | Logistics | course organization, overview, computing environment |
OSX/Linux/ - X windows reading: Programming Exercises           Sections 1, 2, 3 |
8/26 | Roger-the-Crab Simulator | unpacking Roger-the-Crab, implementing basic motor units, informal introduction to PD control | assignment #0:
set-up your VM, install your copy of the simulator |
8/28 | history of robotics | ancient roboticists, influence on human culture, state of the art, robotic models for animal systems, future prospects | reading:
Chapter 2 - Actuators
assignment #1: due Friday 9/4     written - exercises 1, 3, 6, 7 |
8/31 | Actuators | muscle, muscle performance |   |
9/2 | Actuators (cont.) | DC motors, Lorentz force, Faraday's law, commutation, backward electro-motive force, DC motor performance | reading:
Chapter 3 - Control                 Appendix A.10.3 |
9/4 | Practicum: Closed-Loop Control | discussion: the first programming project |
Quiz #1 - Chapter 2 assignment #2: due Monday 9/14     written - 1, 4, 5, 7c, 8a, 8d     program - 4.1.1 (Eye Control)                       4.1.2 (Arm Control) |
9/7 | 9/7 ADD/DROP DEADLINE Introduction to Control Theory |
open-loop, closed-loop, negative feedback, the spring-mass-damper, free-body diagram, 2nd-order equation of motion, the Proportional-Derivative (PD) controller, harmonic oscillator, under-, over-, and critically-damped |   |
9/9 | Control (cont.) | Lyapunov's direct method, phase portrait, Laplace transform, stability, the root locus, practical advice about tuning gains |     |
9/11 | Control (cont.) | time and frequency response, transfer functions, SISO filters, the equilibrium setpoint controller. | reading:
Chapter 4 -
Kinematics                         first half |
9/14 | Kinematics I | practical knowledge - non-holonomic constraints, the base translate/rotate control design, average_red_pixel(), visual foveation, mechanisms, spatial relationships |
Quiz #2 - Chapter 3 assignment #3: due Monday 9/21     Chapter 4 written - 1, 2, 3a, 9     program - 4.1.3 (Base Controller)                         4.3 (Visual Tracker) |
9/16 | Kinematics II | practical stuff about implementing base translation and rotation controllers and visual tracking controls for Roger, describing mechanisms (links, joints, open-, closed-, series- and parallel-kinematic chains, degrees of freedom, configuration space, spatial tasks |   |
9/18 | Kinematics III | translation, rotation (thinking about the direction cosine matrix), indicial notation, inverting the HT, examples |     |
9/21 | Kinematics IV | programming project discussion, forward and inverse kinematics | reading:
Chapter 4 -
Kinematics                         second half assignment #4: due Friday 10/2     Chapter 4 written - 3b, 5, 7     program - 4.2 (Arm Kinematics)                     4.5 (Stereo Triangulation) |
9/23 | Kinematics IV | inverse kinematics, workspace (reachable, dexterous), Pieper's IK solution, IK of Roger's arm |   |
9/25 | Kinematic V | kinematics of stereo triangulation, hand-eye coordination, Jacobian |   |
9/28 | Kinematics VI | Jacobian, force and velocity mappings, quadratic forms |     |
9/30 | Kinematics VII | quadratic forms, kinematic conditioning, kinematic amplification and precision, forensic anthropology, stereo localizability |     |
10/2 | Review Notes | Midterm I review | Quiz #3 - Chapter 4 |
10/5 |   | class cancelled |   |
10/7 | Mid-Semester |
LAST DAY TO DROP (W OR P/F) Midterm I |
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10/9 | Programming Behavior | programming environment: landscape of attractors, state, actions, more on the behavioral build file | reading:
Chapter 6
- Dynamics                 6.1, 6.2 (thru Eqn. 6.3), 6.3,                 Appendix B.4.3 assignment #5: due Friday 10/16     Chap. 6 written - 4.a.i, 4.a.ii, 4.c     program - 4.4 - SearchTrack() |
10/12 | Dynamics I | Newton's laws (again), conservation of momentum, moment of inertia (finally), Newton-Euler dynamics, |   |
10/14 | Dynamics II | the moment of inertia, the inertia tensor, more on the inertial frame, more on Newton-Euler, the computed torque equation |   |
10/16 | Dynamics III | computed torque equation, applications: simulation, feedforward compensation, analysis |
assignment #6: due Monday 10/28     Chapter 6 written - 2, 5.a.i, 5.a.ii, 5c     program - 4.7 - ChaseTouch() |
10/19 | Control Basis I | an action architecture: state and dynamics, a landscape of attractors, parameterizing the landscape, funnels, co-articulation | Quiz #4 - Chapter 6 Dynamics |
10/21 | Control Basis II | action taxonomy, (postural, search, track), a landscape of attractors, examples |     |
10/23 | Control Basis III | action taxonomy, (postural, search, track), a landscape of attractors, examples | reading:
Planning
Algorithms, S. Lavalle                 Sections 1.2, 5.6 |
10/26 |   | class cancelled |   |
10/28 | Introduction to Path Planning | introduction, manufacturing, drug design completeness, c-space representation, obstacle dilation, cellular and simplicial decomposition, 2^n trees, visibility graphs, voronoi diagram | reading:
Chapter 10 - Potential Functions                 Section 10.1.1                 Appendix C assignment #7:due Friday 11/6     program: 4.8 - Path Planning                 project8.c starter code |
10/30 | Path Planning (cont) | potential fields, local minima, navigation functions, intro to harmonic functions, Probabilistic Road Maps (PRM), Rapidly-expanding Random Trees (RRT) |   |
11/2 | Path Planning (cont) | harmonic functions, excluding local minima using Laplace's equation, examples in nature, occupancy grids, numerical relaxation algorithms, examples with Roger, discussion of programming project |     |
11/4 | Path Planning (cont) | probabilistic roadmaps, sampling, local planning, lazy PRMs, Rapidly-exploring Random Trees (RRT) |     |
11/6 | Grasping | the human hand (evolution, kinematics, mechanoreceptors), a grasp taxonomy |
Quiz #5 - Path Planning reading:     Chapter 5 - Hands and Grasping     Chapter 7 - Stimuli and Perception                         Section 7.2 |
11/9 | Grasping II | screw systems, mobility analysis, contact types, the grasp Jacobian, examples, form and force closure, solving for grasp forces |
assignment #8: due 11/16     Chapter 5 written - 5.4.1, 2, 5, 7 |
11/11 | Grasping III |     |   |
11/13 | Grasping IV |   |     |
11/16 | Programming Autonomous Behavior | what's next in robotics - a survey of research of the Laboratory for Perceptual Robotics, experiments in developmental learning and autonomy |     |
11/18 | Review Notes | Midterm II review |   |
11/20 |   | Midterm II - 11:15-12:05 |   |
12/14 Midnight |   | Grades Due |   |
grupen "at" cs "dot" umass "dot" edu