!DOCTYPE html> MIT 6.832 - Underactuated Robotics


Schedule: Spring 2019

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

This a draft schedule for 2019, 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.

MondayTuesday WednesdayThursday Friday
Feb 4
Reg day
Feb 5
LEC 1: Why study robot dynamics?
Preparation: Read Chapter 1
First day of classes
Feb 6
Assigned: Assignment 1
Feb 7
LEC 2: Nonlinear Dynamics
Preparation: Read Chapter 2
(First assignment written component released.)
Feb 8
Feb 11 Feb 12
LEC 3: Dynamic Programming
Preparation: Read Chapter 8
Feb 13
DUE: Assignment 1
Feb 14
LEC 4: Dynamic Programming II
Feb 15
Feb 18
President's day
Feb 19
Monday schedule
Feb 20
Assigned: Assignment 2
Feb 21
LEC 5: Acrobots, Cart-poles, and Quadrotors
Preparation: Read Chapter 3
Preparation: Read Chapter 9
Feb 22
Feb 25 Feb 26
LEC 6: Acrobots, Cart-poles, and Quadrotors
Preparation: Read Chapter 10
Feb 27
DUE: Assignment 2
Feb 28
LEC 7: Lyapunov Analysis
Preparation: Read Chapter 10
Mar 1
Mar 4 Mar 5
LEC 8: Lyapunov Analysis II
Mar 6
Mar 7
LEC 9: Lyapunov Analysis III
Assigned: Assignment 3
Mar 8
ADD DATE
Mar 11 Mar 12
LEC 10: Trajectory Optimization
Preparation: Read Chapter 11
Mar 13
Mar 14
LEC 11:Trajectory Stabilization
Mar 15
DUE: Assignment 3
Mar 18 Mar 19
Midterm exam during lecture time in regular lecture room.
Scope: Lectures 1 through 11
Mar 20 Mar 21
LEC 12: Simple Models of Walking
Preparation: Read Chapter 4
Mar 22
Mar 25
Spring break
Mar 26
Spring break
Mar 27
Spring break
Mar 28
Spring break
Mar 29
Spring break
Apr 1 Apr 2
LEC 13: Simple models of running
Apr 3
Assigned: Assignment 4
Apr 4
LEC 14: Planning + Control Through Contact
Apr 5
Apr 8 Apr 9
LEC 15: Planning + Control Through Contact
Apr 10
Apr 11
LEC 16: Humanoid Robots
Apr 12
DUE: Assignment 4 (includes Project Proposal)
Apr 15
Patriots day
Apr 16
Patriots day
Apr 17 Apr 18
LEC 17:Complete motion planning
Apr 19
Apr 22 Apr 23
LEC 18:Feedback motion planning / policy search
Apr 24
DUE: Project Update #1
Assigned: Assignment 5
Apr 25
LEC 19:Stochastic/Robust Control
DROP DATE
Apr 26
Apr 29 Apr 30
LEC 20:Stochastic/Robust Control
Lecture note
May 1
May 2
LEC 21:Manipulation
May 3
DUE: Assignment 5
May 6 May 7
LEC 22: Model-free Policy Search
May 8
DUE: Project Update #2
May 9
LEC 23: Model-free Value Methods
May 10
May 13 May 14
Final project presentations
May 15 May 16
Final project presentations
May 17
DUE: Project reports and code
May 20
Finals Week
May 21
Finals Week
May 22
Finals Week
May 23
Finals Week
May 24
Finals Week

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

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