Assignment 1

Exercises are taken from the textbook chapters. Maximum score for this problem set is 35 points and the due date is Wednesday, February 15, 2023 (11:59 pm).

• Exercise 1.2: (a) 2 points, (b) 3 points, (c) 2 points
• Exercise 1.3: 4 points
• Exercise 1.5: 3 points.
• Exercise 2.4: (a) 2 point, (b) 4 points, (c) 1 point.
• Exercise 2.5: (a) 2 points, (b) 3 points, (c) 8 points.
• Survey: 1 point; Please fill out this survey. You will get a code after submission, which you should include in your submission.

Feel free to have a look at the remaining exercises in Chapters 1 and 2 of the textbook!

Exercises 1.5 and parts of 2.5 are coding problems. You should work completely in Deepnote. Once you are satisfied with your work, download the final version of the notebook and upload it to Gradescope (please only submit the .ipynb notebooks and do not compress them into a zip file). 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 6.8210 Underactuated Robotics, and join using the access code we provided in Piazza.

Your submission should include

• Problem Set 1, Written Submission. A scanned pdf of your answers to the written questions.
• Problem Set 1, Notebook Submissions. The final version of your notebook drake_system.ipynb and vibrating_pendulum.ipynb (downloaded from Deepnote) Please double check that the notebook you are submitting has exactly this name.

In our testing, Gradescope will give you a grade from autograder. You can resubmit as many times as you like before the deadline.