EECS C106B/206B | Robotic Manipulation and Interaction
Spring 2023 | Instructor: Professor Shankar Sastry
Cources Notes
Textbook
Course Calendar
ALL LECTURE VIDEOS CAN BE FOUND ON BCOURSES
Week 1 - New Vistas in Robotics and Linear Control
- Discussion 1: Dynamical Systems & Linear Control (Worksheet) (Boardwork) (Video) (Solutions)
- Homework 1: Dynamical Systems (due 1/24)
- Project 1A: Trajectory Tracking with Sawyer (due 1/31): Intro Video
- Lab Slides
- Optional Project 0 (ROS Review)
- Assessment (if you haven’t taken 106A - due 1/20)
- “Reading a scientific or engineering paper”, presented by Professor Terry Johnson
- “How to read all of research (a lit review)” - presented by David McPherson
| Course Logistics, New Vistas in Robotics 1/17 (Slides) Reading - MLS 2.1-2.5, 3.1-3.3 Optional Reading - MLS Appendix A.3 | Introduction to Control with Quadrotors 1/19 (Slides) Reading - MLS Ch 3.4, 4.1-4.3 |
Week 2 - Introduction to Basic Lyapunov Stability and Nonlinear Control
- Discussion 2: Lyapunov Stability (Worksheet) (Boardwork) (Video) (Solutions)
- Homework 2: Controls (due 2/7) (PDF)
- Lab Slides
- Robot Usage Guide
| Introduction to Linear Control 1/24 (Slides) (Boardwork) Reading - MLS 4.5 | Lyapunov Control and Intro to Feedback Linearization 1/26 (Slides) (Boardwork) Reading - MLS 4.4 and Chapter 8 |
Week 3 - Feedback Linearization
- Discussion 3: Nonlinear Controls and Stability (Worksheet) (Boardwork) (Video) (Solutions)
- Project 1B: Trajectory Tracking with Sawyer (due 2/14)
- Lab Slides [pdf] / [pptx]
| Feedback Linearization 1/31 (Slides) (Boardwork) Reading - Sastry 1999, Chapter 8 | Multi-Input Feedback Linearization 2/2 (Boardwork) (Sp22 3D Quadrotor) Reading - MLS Chapter 7 |
Week 4 - Multi-Input Feedback Linearization and Nonholonomic Systems
- Discussion 4: Model Predictive Control (Worksheet) (Boardwork) (Video) (Solutions)
- Homework 3: Path Planning (due 2/22) (PDF)
| Multi-Input Feedback Linearization with Dynamic Extension, Application to Planar Quadrotors 2/7 (Boardwork) (Video) Reading - MLS Chapter 8 | Introduction to Nonholonomic Motion Planning 2/9 (Slides) (Boardwork) (Video) Reading - MLS |
Week 5 - Steering and Controllability
- Discussion 5: Nonholonomic Steering (Worksheet) (Boardwork) (Video) (Solutions)
- Project 2: Nonholonomic Control (due 3/7) (Slides [pdf] / [pptx] )
| Controllability and the Frobenius Theorem 2/14 (Slides) (Boardwork) | Steering, Optimal Control, and MPC 2/16 (Slides) (Boardwork) |
Week 6 - Steering with Sinusoids and SLAM
| Steering with Sinusoids 2/21 (Slides) (Boardwork) (Video) | SLAM Part 1 (with Frank Chiu) 2/23 (Slides) (Boardwork) (Video) |
Week 7 - SLAM
| SLAM Part II (with Frank Chiu) 2/28 (Slides) (Boardwork) (Video) | SLAM Part III (with Frank Chiu) 3/2 (Slides) (Boardwork) (Video) |
Week 8 - Contacts and Grasping
- Discussion 8: Midsemester Review (Worksheet) (Boardwork) (Video) (Solutions)
- Homework 4: Computer Vision, SLAM, and Kalman Filtering (due 3/21)
| Types and models of contact, modeling grasp by multi-fingered hands 3/7 (Slides) (Boardwork) (Video) | Grasp Stability, Manipulability, Grasp Planning 3/9 (Slides) (Boardwork) (Video) |
Week 9 - Grasping and Hands
- Discussion 9: Grasping (Worksheet) (Solutions)
- Project 3: State Estimation (due 4/7)
| Grasping Control 3/14 (Slides) (Boardwork) (Video) | Hand Dynamics and Control 3/16 (Slides) (Boardwork) (Video) |
Week 10 - Finishing Grasping, CBFs
| Grasping Control 3/21 (Slides) (Boardwork) (Video) | CBFs (with Jason Choi) 3/23 (Slides) (Boardwork) (Video) |
Week 11 - Spring Break
| Spring Break (No Class) 3/23 Stay safe! | Spring Break (No Class) 3/25 Stay safe! |
Week 12 - Dex-Net and Soft Robots
- Discussion 10: Control Barrier Functions (Worksheet) (Boardwork) (Video) (Solutions)
- Homework 5: Grasping (due 4/18)
| Dex-Net (Professor Ken Goldberg) 4/4 (Slides) (Boardwork) (Video) | Soft Robotics Part I (Isabella Huang) 4/6 (Slides [pdf] / [pptx] ) (Boardwork) (Video) |
Week 13 - More Soft Robots and RL
- Final Project Guidelines
- No discussion this week
- Project 4: Decentralized Multi-Agent Control (due 4/28) (Slides [pdf] / [pptx] )(Video)
| Soft Robotics Part II (Isabella Huang) 4/11 (Slides [pdf] / [pptx] ) (Boardwork) (Video) | Optimal Control and RL 4/13 (RL Intro Slides [pdf] / [pptx] ) (Boardwork) (Video) |
Week 14 - Intro to Legged Robots
- Midterm
- Discussion 11: Optimal Control and Reinforcement Learning (Worksheet) (Video) (Boardwork Part 1)
- Homework 6: Optimal Control and Reinforcement Learning, due 5/7
| Introduction to Legged Robots, Modeling and Dynamics of Legged Robots (Jason Choi) 4/18 (Slides) (Boardwork) (Video) | Control of Legged Robots (Bike Zhang) 4/20 (Slides) (Boardwork) (Video) |
Week 15 - The Future Is Now
- Continue final projects
| Autonomous Cars (feat. Ritika Srivastava) 4/25 (Slides [pdf] / [pptx] ) (Boardwork) (Video) | AR/VR (feat. Prof. Allen Yang) 4/27 (Slides) (Boardwork) (Video) |
Week 16
- RRR Week: No Lectures
| Final Project Showcase 5/5 |
Week 17
- Good luck on your exams!
| Finals Week 5/12 Final Project Report and Website Due |