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UNIVERSITY OF MASSACHUSETTS
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| CMPSCI 603 |
Robotics |
Spring 2022 |
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| Date | Lecture | Content | Assignment |
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| 1/25 |
tour the course pages Roger-the-Crab Simulator |
course information, syllabus, simulator code, homework/project environments, unpacking Roger-the-Crab |
reading: Programming Exercises Sections 1, 2, 3 Chapters 1&2 - Introduction preparation: VM/Linux/Roger installation complete by Thurs, 1/27 |
| 1/27 |
Introduction -
short history of robotics PD control primer ( lecture 1-27-22) |
robotics is very old, but advancing very quickly in the 21st century, the basics of a PD controller | |
| 2/1 |
Actuators ( lecture 2-1-22) |
tuning gains for Roger's eye introduction to our action architecture actions, states, recommended errors for every motor unit muscles, motors, and motor units |
assignment
#1: due Tuesday 2/8 Written Exercises - Chapter 1 & 2 Chapter 1 - problems 1, 3, 4 Chapter 2 - problems 2, 7, 8 Programming Project #1 - Motor Units 4.1.1 eyes, 4.1.2 arms |
| 2/3 | Actuators (cont) ( lecture 2-3-22) |
hydraulic/pneumatic actuators, stepper motors, DC motors,
gear boxes, emerging actuator, technologies base control primer - factoring translation and rotation control |
Programming Exercises - Section 4.1.3
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| 2/8 |
Linear Control ( 2021 control lecture 1) |
negative feedback, the spring-mass-damper, stability, harmonic oscillators |
reading: Chapter 3 - Control Appendix A.10.3 assignment #2: due Thursday 2/17 Written Exercises - Chapter 3 problems 1, 3, 4, 6, 7c, 8a, 8d Programming Project #1 (cont) - Motor Units 4.1.3 base controllers |
| 2/10 | Control (cont) ( 2021 control lecture 2) |
Laplace transform, under-, over-, and critical-damping | |
| 2/15 | Control (cont) ( 2021 control lecture 3) |
transfer function, boundary-value problems, amplitude and frequency response |
reading: Chapter 4 - Kinematics |
| 2/17 |
Kinematics ( 2021 kinematics lecture 1 ) |
mechanisms, homogeneous transform - composition and inverse |
assignment #3:
due Tuesday 3/3 Written Exercises - Chapter 4: 1, 2, 3, 5, 8, 9 Programming - Project #2 - Arm Kinematics Project #3 - Visual Tracker |
| 2/22 | virtual monday | ||
| 2/24 | Kinematics (cont) ( 2021 kinematics lecture 2) |
forward & inverse kinematics | |
| 3/1 | Kinematics (cont) ( 2021 kinematics lecture 3) |
Jacobian, velocity and force domain, principal kinematic
transformations, eigenvectors, quadratic forms, manipulability,
stereo localizability implementation - manipulability and localizability for Roger, scaling | |
| 3/3 |
Control Basis (2021 Control Basis(a)) (2021 Control Basis(b)) |
questions regarding kinematic conditioning? landscape of attractors, state and dynamics, MDP sequential control, reinforcement learning, state-action table, programming skills, examples |
assignment #4:
due Thursday 3/10 Programming - Project #4 - SearchTrack() Project #5 - StereoKinematics() reading: Chapter 10 - 10.1, 10.4, 10.6 |
| 3/8 | Review Midterm I | ||
| 3/10 | Midterm I | ||
| 3/15, 3/17 | Spring Break | ||
| 3/22 | mid-semester recap | midterm post-mortem, re-cap of programming assignments, sequential composition, control decision logic, SearchTrack() (precise, continuous stereo), hand-coding Q-tables |
reading: Chapter 5 - Hands and
Kinematic Grasp Analysis assignment #5: due Tuesday 4/5 Written Exercises - Chapter 5 problems 1, 2, 5 Programming - Project #7 - ChaseTouch() |
| 3/24 |
The Kinematics of
Grasping ( 2021 Grasp Analysis lecture) |
robot hands, mobility analysis, form closure, contact types, object wrenches, the grasp Jacobian, force closure | |
| 3/29 |
Grasping (cont) |
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| 3/31 |
Dynamics I (2021 Dynamics I lecture) |
Newton's laws, inertia tensors, rotating coordinate systems, computed torque equation, Newton-Euler equations |
reading: Chapter 6 - Dynamics assignment #6: due Tuesday, 4/12 Written Exercises - Chapter 6 problems 1, 5, 7 |
| 4/5 | Dynamics (cont) (2021 Dynamics II lecture) |
deriving computed torque equations (Newton-Euler equations,Lagrangian), applications of the computed torque equation: simulation, control, the acceleration ellipsoid | |
| 4/7 | Dynamics (cont) (2021 Dynamics III lecture) |
outward-inward
equations ,
Lagrangian
equations) the brain, cutaneous tactile sensors, motor units, somatosensory cortex, the eye, primary, secondary, tertiary cortical regions, information, cortical association |
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| 4/12 |
Developmental Learning |
how infants learn: neurological organization in human sensorimotor development, the first 12 months, developmental reflexes, maturational processes, developmental chronology, an ontogenetic landscape |
reading: Chapter 10 - The
Control Basis assignment #7: due Tuesday 4/19 Written Exercises - Chapter 10 problems 2, 5, 6 |
| 4/14 |
Control Basis |
an action architecture: state and dynamics, a landscape of attractors, parameterizing the landscape, funnels, co-articulation |
assignment #8:
due Tuesday 5/3 Programming Project #9 - Grasp() submit: report + RogerProjects directory |
| 4/19 | Control Basis (cont) |
action taxonomy, (postural, search, track), a landscape of attractors, Reinforcement Learning, Bellman's equation, Q-learning, case study: learning to walk - Thing |
reading:
Planning Algorithms, S. Lavalle Sections 1.2, 5.6 Appendix C - Numerical Methods for Computing Harmonic Functions |
| 4/21 |
Path Planning |
a survey of path planning representations and algorithms | assignment #9? |
| 4/26 | Path Planning II |
more on representation for path planning, a path "controller" (programming project discussion), probabilistic path planning, RRT | |
| 4/28 | Tour of the Laboratory for Perceptual Robotics? |
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| 5/3 | Midterm II Review | ||
| 5/11 | Midterm II during finals week |
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| 5/19 | Grades Due Midnight |
grupen "at" cs "dot" umass "dot" edu