Name: Prof. Aaron M. Johnson E-Mail: firstname.lastname@example.org Office location: Zoom Office hours: TBD
This course covers the dynamics of robotic systems with a focus on the mathematical structure of the dynamics and numerical analysis. Topics will start by reintroducing basic kinematics and dynamics in a more formal mathematical framework before moving on to contact conditions, friction, terramechanics, hybrid dynamical systems, timestepping simulation, and contact invariant optimization. After the course students will be able to write simulation and optimization methods for analyzing robotic systems. Students should have taken a prior course in dynamics, and be comfortable with linear algebra, multivariable calculus, and programming in Matlab.
24-351 Dynamics OR 16-711 Kinematics, Dynamic Systems, and Control (or equivalent)
Comfortable programming in Matlab
Linear algebra, multivariable calculus, and differential equations
Increase formal understanding of rigid-body dynamics with contact.
Implement simulation and optimization algorithms to analyze robotic systems.
Read and understand technical articles on mechanics and robotic systems.
Ability to apply mathematics and engineering principles to solve problems found in robot design, control, and analysis.
Ability to disseminate engineering work to a broad professional community via written communication.
No textbook is required for this class. Readings will be posted online and many will come from:
R. M. Murray, Z. Li, and S. S. Sastry. A Mathematical Introduction to Robotic Manipulation. Boca Raton, FL: CRC Press, 1994. PDF.
A. M. Johnson and D. E. Koditschek. "Legged self-manipulation." IEEE Access, Vol. 1, pp. 310-334, 2013. PDF.
A. M. Johnson, S. A. Burden, and D. E. Koditschek, "A hybrid systems model for simple manipulation and self-manipulation systems", The International Journal of Robotics Research, vol. 35, pp. 1354, 2016. PDF.
The final course grade will be calculated using the following categories:
Percentage of Final Grade
Preliminary list of class topics (see Canvas for detailed schedule, readings, etc):