Assignment 2

Exercises are taken from the textbook chapters. Maximum score for this problem set is 63 points and the due date is Wednesday, March 10, 2020.

• Exercise 7.1: 5 points.
• Exercise 7.2: (a) 2 points, (b) 2 points, (c) 2 points, (d) 2 points, (e) 2 points.
• Exercise 7.3: (a) 2 points, (b) 3 points, (c) 3 points.
• Exercise 7.4: (a) 2 points, (b) 4 points, (c) 3 points.
• Exercise 7.6: (a) 4 points, (b) 1 points, (c) 2 points, (d) 3 points.
• Exercise 3.1: (a) 4 points, (b) 4 points, (c) 3 points, (d) 2 points.
• Exercise 3.2: (a) 3 points, (b) 5 points.

Exercises 7.6, 3.1, and 3.2 are coding problems. You can work directly in Colab, and once you are satisfied with your work, download the final version of the notebook and upload it to Gradescope. (Please use Gradescope to tag the solutions in your pdf file with the corresponding exercise number, it makes grading much easier!)

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 2, Written Submission. A pdf of your answers to the written questions. This can be either LaTeX, Word, or hand written (in the latter case, be sure it is legible!).
• Problem Set 2, Notebook Submission. The final version of your Exercise 7.6 notebook fitted_double_integrator.ipynb, and the final version of your Exercise 3.1, 3.2 notebook cartpole_balancing.ipynb and double_cartpole_urdf.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, and you can resubmit as many times as you like before the deadline.