Assignment 3

Exercises are taken from the textbook chapters. Maximum score for this problem set is 49 points and the due date is Wednesday, February 28, 2024. (11:59 pm)

  • Exercise 7.1: (a) 3 points, (b) 1 points, and (c) 4 points.
  • Exercise 3.1: 13 points.
  • Exercise 3.2: 12 points.
  • Exercise 3.3: (a1) 3 points, (a2) 4 points, (a3) 2 points, (b1) 4 points, and (b2) 2 points.
  • Feedback survey: 1 point. After submitting the survey, you will receive a "keyword." Write the keyword at the end of your written submission, so that we can verify who completed the survey. Do not worry, the survey is anonymous!

Exercise 3.1 and 3.2 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 that will be provided in Piazza.

Your submission should include:

  • Problem Set 3, 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!). In Gradescope, Please tag the solutions in your pdf file with the corresponding exercise number, it makes grading much easier!
  • Problem Set 3, Notebook Submission. The final version of your Exercise 3.1 notebook cartpole_balancing.ipynb and the final version of your Exercise 3.2 notebook cartpoles_urdf.ipynb. 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 30 seconds. 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.