Assignment 4

Exercises are taken from the textbook chapters. Maximum score for this problem set is 23 points. The due date for this problem set is Wednesday, March 6, 2024. (11:59 pm)

• Exercise 7.7 10 pts.
• Exercise 9.1 2 pts.
• Exercise 9.3 1 pts.
• Exercise 9.5 4 pts: (a) 1 points, (b) 1 points, (c) 1 points, (d) 1 points.
• Exercise 9.6 6 pts: (a) 1 points, (b) 1 points, (c) 1 points, (d) 1 points, (e) 1 points, (f) 1 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 7.7 is a coding problem. 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.

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

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

You can resubmit as many times as you like before the deadline.

Note that, to quicken 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.