Introduction to Robotics (CS223A)
Homework #7
(Winter 2013/2014)
Due: Wednesday, March 12
Q1
Q2
Q3
grade:
Some tips for doing CS223A problem sets:
Print this problem set and ll in your answers in the dedicated white space right below
the question stateme
IntroductionToRobotics-Lecture07
Instructor (Oussama Khatib):Okay. Lets get started. So for this segment come on. Interesting. This is
really an interesting development. In 99, a robot playing volleyball, and this was developed by a
company, Toshiba, whic
IntroductionToRobotics-Lecture05
Instructor (Oussama Khatib):Okay. Lets get started. So today, were going to the zoo and this video
segment, which comes from 93; this is from [inaudible] University. Its quite interesting. Video
Instructor (Oussama Khatib)
IntroductionToRobotics-Lecture06
Instructor (Oussama Khatib):All right. Lets get started. So today is a video segment is video segment.
Something happened. Okay. We have a little problem. I guess we can start over. Okay. My computer just
crashed. Okay. Le
IntroductionToRobotics-Lecture04
Instructor (Oussama Khatib):All right. Lets get started. So today video segment is about a small
device called the Hummingbird. The Hummingbird was developed at IBM Watson Research Center, and
it was published in the proce
IntroductionToRobotics-Lecture03
Instructor (Oussama Khatib):Okay, lets get started. So todays movie segment is about a special
actuator. Probably you saw this on the first lecture, but we will see some more details. So this is a flexible
actuator that co
IntroductionToRobotics-Lecture02
Instructor (Oussama Khatib):Okay. Let's get started. So as always, the lecture starts with a video
segment, and today's video segment comes from 1991, and from the group at the British Columbia and it
deals with Bibet walk
IntroductionToRobotics-Lecture01
Instructor (Oussama Khatib):Okay. Lets get started. Welcome to intro to robotics 2008. Happy new
year, everyone. In introduction to robotics, we are going to really cover the foundations of robotics. That
is, we are going
ConvexOptimizationI-Lecture11
Instructor (Stephen Boyd):Well, starting on our next application topic, which is
statistical estimation. So last time we looked at estimation from a simple fitting point-ofview, approximation in fitting. Now well actually loo
ConvexOptimizationI-Lecture10
Instructor (Stephen Boyd):Well, today we're starting, well, a whole new section of the
course, although the boundary's not that sharp. The next sort of whole section of the
course, and book, for that matter, is applications.
ConvexOptimizationI-Lecture06
Instructor (Stephen Boyd):Great. Okay. Can you turn off all amplification in here?
Thatd be great. So let me start with a couple of announcements. The first is lets see.
Oh, Homework 3 is posted. I know youll be very happy ab
ConvexOptimizationI-Lecture14
Instructor (Stephen Boyd):Just a quick poll: I just wanna make sure how many people
have tried the image interpolation problem? And how many actually had trouble with it?
One, two okay. Unspecified trouble, I think is what th
ConvexOptimizationI-Lecture08
Instructor (Stephen Boyd):Well start with an announcement. It should be kind of
obvious anyway. You should start reading Chapter 5. So Ill go fast, not that fast, on our
next topic, but you should be reading if you want all t
IntroductionToRobotics-Lecture08
Instructor (Oussama Khatib):Okay, let's get started. So today's video segment is it's about parallel
parking. I know a lot of you don't know how to do the parallel parking, so now you'll get into the car and
you press the
IntroductionToRobotics-Lecture09
Instructor (Oussama Khatib):Okay. Lets get started. So today its really a great opportunity for all of
us to have a guest lecturer. One of the leaders in robotics vision. A Gregory Hager from John Hopkins
who will be givin
IntroductionToRobotics-Lecture10
Instructor (Krasimir Kolarov):Good afternoon. My name is Krasimir Kolarov. I am going to be
teaching the lecture today and also the co-author of the notes for the course. So if you have any
complaints, direct it to me. If
Video Segment
Juggling Robot, Dan Koditschek University of Michigan, ISRR93 video proceedings
Control
Natural Systems PID Control Joint-Space Dynamic Control Task-Oriented Control Force Control
Robot Control
Joint-Space Control
Task-Oriented Control
1
Jo
Trajectory Generation
Basic Problem: Move the manipulator arm from some initial position cfw_TA to some desired final position cfw_TC. (May be going through some via point cfw_TB)
cfw_TA cfw_TB Path points : Initial, final and via points Trajectory : Time
Movie Segment
The Hummingbird, IBM Watson Research Center, ICRA 1992 video proceedings
Manipulator Kinematics
Link Description Denavit-Hartenberg Notation Frame Attachment Forward Kinematics
Manipulator
Link i -1 Joint axis i -1 Joint axis i Link 1
Link
Spatial Descriptions
Task Description Transformations Representations
Kinematics
Configuration Parameters
Manipulator
Revolute Joint Prismatic Joint
A set of position parameters that describes the full configuration of the system.
k Lin i
9 parameters/li
IntroductionToRobotics-Lecture16
Instructor (Oussama Khatib):Okay. Well, we have a special today. This robot is going to show you a
video. I'm not sure if you're familiar with those cassettes anymore. Do they exist still? So the [inaudible]
here is going
IntroductionToRobotics-Lecture15
Instructor (Oussama Khatib):Okay. Okay. Lets get started. So todays video segment is about tactile
sensing. Now, I wonder what is difficult about building tactile sensors; anyone has an idea? So what is the
problem with bu
IntroductionToRobotics-Lecture14
Instructor (Oussama Khatib):Okay. Okay. Lets get started. So todays video segment is about tactile
sensing. Now, I wonder what is difficult about building tactile sensors; anyone has an idea? So what is the
problem with bu
IntroductionToRobotics-Lecture13
Instructor (Oussama Khatib):Okay. Lets get started. So todays video is about dampening. This is
from Vancouver Tech and it was presented as ISRR, International Symposium of Robotic Research in
93.
[Video playing]
At the Un
IntroductionToRobotics-Lecture12
Instructor (Oussama Khatib):All right. So today, were going to the Alps. [Video Playing]
An innovative Space Rover with extended climbing abilities. Switzerland.
Autonomous mobile robots have become a key technology for un
IntroductionToRobotics-Lecture11
Instructor (Oussama Khatib):All right. Lets get started. So the video segment today is quite
interesting. It was presented at the 2000 International Conference on Robotic and Automation, and Im
sure youre going to like it.
ConvexOptimizationI-Lecture19
Instructor (Stephen Boyd):Well start in well finish off interior point methods today.
So if you go down to the Pad, well start, and I mentioned this last time, but Ill I think I
did it a little bit quickly, so well do talk ab
ConvexOptimizationI-Lecture13
Instructor (Stephen Boyd):Okay, so let me start with an announcement. Yesterdays
section, which is to say the section which would have been yesterday had yesterday not
been a holiday, is actually rescheduled to Wednesday. Now
ConvexOptimizationI-Lecture12
Instructor (Stephen Boyd):So, lets start with a couple of announcements. I think were
a little bit behind on updating the website of the readings. So it should be kind of
obvious. You should read the chapter on geometrical pr
ConvexOptimizationI-Lecture18
Instructor (Stephen Boyd):Right this far were on? So we didnt get very far. We just
started talking about the basic ideas of barrier methods. Now, but well really do it today,
so well look at how it all works.
Okay, so the id
ConvexOptimizationI-Lecture17
Instructor (Stephen Boyd):Well today, well finish up Newtons method, probably
wont take up much of the day though. But then, well move on to our absolute last
topic, which is Interior Point Methods for Inequality Constraint P
ConvexOptimizationI-Lecture09
Instructor (Stephen Boyd):Okay. Well continue on duality today. One thing though
before we get started, Ive received from a variety of sources, feedback that the
homework is maybe just a little bit too much? I dont believe I
ConvexOptimizationI-Lecture15
Instructor (Stephen Boyd):Great! So today were going to start in, I guess for real, on
this third part of the course, which is on algorithms for solving complex problems. The
last topic, which was numerical linear algebra, wh