Assignment 4

Exercises are taken from the textbook chapters. Maximum score for this problem set is 44 points. The due date for this problem set is Friday, April 25, 2021.

• Exercise 10.3: (a) 1 point, (b) 1 point, (c) 1 point, (d) 5 points, (e) 3 points, (f) 3 points, (g) 2 points, (h) 2 points.
• Exercise 4.1: (a) 3 points, (b) 2 points, (c) 3 points, (d) 3 points, (e) 2 points.
• Exercise 17.1: (a) 3 point, (b) 3 points, (c) 3 points, (d) 2 points, (e) 2 points.

This week all the exercises are coding problems. You can work directly in Colab. If you need to take a break, you can either save your work to Google Drive (or download the notebook on your machine), then reopen your notebook from Google Drive (or reupload it from your computer). Once you are satisfied with your work, download the final version of the notebook, and upload it to Gradescope.

If you do not have a Gradescope account, you will be required to create one. Please use your @mit.edu email to register. Then look for class 6.832 Underactuated Robotics, and join using the access code we provided in Piazza.

You will have to make two submissions for this problem set:

• Problem Set 4, Notebook Submission. The final version of your notebooks: ilqr_driving.ipynb, one_d_hopper.ipynb, and compass_gait_limit_cycle.ipynb. These can be downloaded from Colab after you finish to work on them. Please double check that the notebooks you are submitting have exactly this name and extension.

In our testing, Gradescope will give you a grade within approximately 1 minute. You can resubmit as many times as you like before the deadline.

Note that, to fasten your workflow, we added an autograding cell directly at the end of each notebook. However, this does not replace Gradescope: you still need to complete the "Notebook Submission" when submitting your assignment.