Here is a tentative schedule of lectures, readings, assignments, midterm, and final project. Lectures are Tuesday and Thursday from 2:30 to 4:00 pm. Readings and assignments will be added as they become available.
You can find all of the lectures for this term on the course YouTube playlist.
| Monday | Tuesday | Wednesday | Thursday | Friday |
|
Feb 15 President's day |
Feb 16 LEC 1: Robot dynamics and model-based control Preparation: Chapter 1, pre-recorded video Lecture: video |
Feb 17 Assigned: Assignment 1 Office Hours |
Feb 18 LEC 2: Nonlinear Dynamics Preparation: Chapter 2, pre-recorded video Lecture: no video -- tried a flipped lecture format |
Feb 19 Office Hours |
|
Feb 22 Office Hours |
Feb 23 LEC 3: Dynamic Programming I Preparation: Chapter 7, pre-recorded video |
Feb 24 Office Hours |
Feb 25 LEC 4: Dynamic Programming II Preparation: Chapter 7 and section 8.1, pre-recorded video Mini-Lecture: video |
Feb 26 DUE: Assignment 1 Office Hours |
|
Mar 1 Office Hours |
Mar 2 LEC 5: Acrobots, Cart-poles, and Quadrotors I Preparation: Chapter 3.0-3.4, Chapter 8, pre-recorded video Mini-Lecture: video |
Mar 3 Assigned: Assignment 2 Office Hours |
Mar 4 LEC 6: Acrobots, Cart-poles, and Quadrotors II Preparation: Chapter 3, pre-recorded video 1, video 2 Mini-Lecture: video |
Mar 5 Office Hours |
|
Mar 8 Student Holiday -- no classes Office Hours |
Mar 9 Monday classed to be held. |
Mar 10 DUE: Assignment 2 Office Hours |
Mar 11 LEC 7: Lyapunov Analysis I Preparation: Chapter 9.1,9.2, pre-recorded video 1, video 2 Mini-Lecture: video |
Mar 12 Office Hours |
|
Mar 15 Office Hours |
Mar 16 LEC 8: Lyapunov Analysis II Preparation: Chapter 9, pre-recorded video Mini-Lecture: video |
Mar 17 Assigned: Assignment 3 Office Hours |
Mar 18 LEC 9: Trajectory Optimization Preparation: Chapter 10-10.3, pre-recorded video Mini-Lecture: video |
Mar 19 Office Hours ADD DATE |
|
Mar 22 Student holiday -- no classes Office Hours |
Mar 23 Student holiday -- no classes |
Mar 24 Office Hours |
Mar 25 LEC 10: Trajectory Stabilization Preparation: Chapter 10, pre-recorded video Mini-Lecture: video |
Mar 26 DUE: Assignment 3 Office Hours |
|
Mar 29 Office Hours |
Mar 30 LEC 11: Policy Search Lecture: video |
Mar 31 Office Hours |
Apr 1 LEC 12: Multibody Parameter Estimation Lecture: video |
Apr 2 Office Hours |
|
Apr 5 Office Hours |
Apr 6 Midterm |
Apr 7 Assigned: Project Proposal Office Hours |
Apr 8 LEC 13: Simple models of walking Preparation: 4.1-4.2, pre-recorded video |
Apr 9 Office Hours |
|
Apr 12 Office Hours |
Apr 13 LEC 14: Simple models of running Preparation: 4.3+, pre-recorded video Mini-Lecture: video |
Apr 14 DUE: Project Proposal Assigned: Assignment 4 Office Hours |
Apr 15 LEC 15: Planning + control through contact Preparation: 16, 17, pre-recorded video 1, video 2 |
Apr 16 Office Hours |
|
Apr 19 Patriot's Day Office Hours |
Apr 20 Student holiday -- no classes |
Apr 21 Office Hours |
Apr 22 LEC 16: Learning Linear Models Lecture: video |
Apr 23 DUE: Assignment 4 Office Hours |
|
Apr 26 Office Hours |
Apr 27 LEC 17: Humanoid Robots Preparation: pre-recorded video |
Apr 28 DUE: Project Update #1 Assigned: Assignment 5 Office Hours |
Apr 29 LEC 18: Complete motion planning Preparation: pre-recorded video DROP DATE |
Apr 30 Office Hours |
|
May 3 Office Hours |
May 4 LEC 19: Feedback motion planning Preparation: pre-recorded video |
May 5 DUE: Assignment 5 Office Hours |
May 6 LEC 20:Stochastic dynamics Preparation: pre-recorded video |
May 7 Office Hours Student holiday -- no classes |
|
May 10 Office Hours |
May 11 LEC 21:Stochastic / robust control Preparation: pre-recorded video Mini-Lecture: video |
May 12 DUE: Project Update #2 Office Hours |
May 13 LEC 22: From Linear Models to Deep Models Lecture: video |
May 14 Office Hours |
|
May 17 Office Hours |
May 18 LEC 23: Output feedback + course Wrap-up Lecture: video |
May 19 Office Hours |
May 20 Project presentations Last Day of Classes |
May 21 |
(This schedule format was adapted from MIT 6.824 and is licensed under CC BY 3.0 US.)