Robotics
CSE P 590
Spring 2014: Monday 6:30-9:20, EEB 037
Instructor: Emo Todorov, todorov@cs.washington.edu
TA: Vikash Kumar, vikash@cs.washington.edu
TA: Igor Mordatch, igor.mordatch@gmail.com
Course Description
This course will provide a technical overview of modern robotics. Topics will include mechanism design,
estimation, control, learning. The theory will be illustrated with example applications to flying,
walking, object manipulation with both physical and simulated robots.
Homework (see Forum for files)
Homework 1, due May 15
Homework 2, due May 29
Homework 3, due June 13 (no extensions)
Lecture slides
Introduction
Synthesis of complex movements with optimal control (research talk)
Linear algebra
Numerical optimization
Kinematics
Jacobian methods
Human-Robot Interaction (research talk)
Markov decision processes and Bellman equations
Controlled diffusions and Hamilton-Jacobi-Bellman equations
Linear-Quadratic-Gaussian (LQG) control
Approximate optimization
Trajectory optimization
Bayes filter
Kalman filter
Extended/Unscented Kalman filter
Particle filter
Multi-joint dynamics
Recommended Readings
Extended Kalman Filter Tutorial
World Robotics 2013: Executive summary
Optimal Control Theory (book chapter)
Rotating objects using quaternions (online tutorial)
R. Stengel, Optimal Control and Estimation (book)
L. Siavicco and B. Siciliano, Modelling and Control of Robot Manipulators (book)
Code
plotmat.m : visualization of 2-by-2 matrices