Schedule: Spring 2018

Lectures are Tuesday and Thursday 2:30-4:00, in 35-225

This a draft schedule for 2018, subject to change.

Here is a tentative schedule of lectures, readings, assignments, midterm, and final project. Readings and assignments will be added as they become available.

This schedule format was adapted from MIT 6.824 and is licensed under CC BY 3.0 US.

DROP DATE
MondayTuesday WednesdayThursday Friday
feb 5
Reg day
feb 6
LEC 1: Why study robot dynamics? (video link)
Preparation: Read Chapter 1
Assigned: Assignment 1 First day of classes
feb 7 feb 8
LEC 2: Nonlinear Dynamics
Preparation: Read Chapter 2
(First assignment written component released.)
feb 9
feb 12 feb 13
LEC 3: Dynamic Programming
Preparation: Read Chapter 8
feb 14
DUE: Assignment 1
feb 15
LEC 4: Dynamic Programming II
feb 16
feb 19
President's day
feb 20
Monday schedule
feb 21
Assigned: Assignment 2
feb 22
LEC 5: Acrobots, Cart-poles, and Quadrotors
Preparation: Read Chapter 3
Preparation: Read Chapter 9
feb 23
feb 26 feb 27
LEC 6: Acrobots, Cart-poles, and Quadrotors
feb 28
DUE: Assignment 2
mar 1
LEC 7: Algebraic methods for analysis and control design I
mar 2
mar 5 mar 6
LEC 8: Algebraic methods for analysis and control design II
mar 7
mar 8
Assigned: Assignment 3
Lecture Cancelled (Snow)
mar 9
ADD DATE
mar 12 mar 13
Lecture Cancelled (Snow)
mar 14
mar 15
LEC 9: Trajectory Optimization
mar 16
DUE: Assignment 3
mar 19 mar 20
Midterm exam during lecture time in regular lecture room.
Scope: Lectures 1 through 10
mar 21 mar 22
LEC 10: Simple models of walking/running
mar 23
mar 26
Spring break
mar 27
Spring break
mar 28
Spring break
mar 29
Spring break
mar 30
Spring break
apr 2 apr 3
LEC 11: Computational methods for walking/running
apr 4 apr 5
Assigned: Assignment 4
LEC 12: Planning + Control Through Contact (Part I: the Hybrid System View)
apr 6
apr 9 apr 10
LEC 13: Planning + Control Through Contact (Part II: Floating-base models and Time-Stepping)
apr 11
DUE: Assignment 4 (includes Project Proposal)
apr 12
LEC 14: Humanoid Robots
apr 13
apr 16
Patriots day
apr 17
Patriots day
apr 18 apr 19
LEC 15: Perception for Manipulation
apr 20
apr 23 apr 24
LEC 16:Global motion planning
apr 25
DUE: Project Update #1
apr 26
Assigned: Assignment 5
LEC 17:Global policies from local policies
apr 27
apr 30 may 1
LEC 18: Stochastic/Robust Control
may 2
DUE: Assignment 5
may 3
LEC 19: Stochastic/Robust Control
may 4
may 7 may 8
LEC 20: Reinforcement Learning I
may 9
DUE: Project Update #2
may 10
LEC 21: Reinforcement Learning II
may 11
may 14 may 15
Final project presentations
may 16 may 17
Final project presentations
may 18
DUE: Project reports and code
may 21
Finals Week
may 22
Finals Week
may 23
Finals Week
may 24
Finals Week
may 25
Finals Week

For questions or comments, email underactuated-tas@mit.edu.

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