University of California,
Santa Barbara
Department of Electrical and Computer Engineering
Robot Locomotion
ECE 594D - Winter 2010
Homework
| Date out | Homework | Supplemental Files | Date due | Solution | |
| 1/9/10 | HW 1 | cartpole_hw1a.m;
cartpole_linear.m;
cartpole_hw1b.m Derivation of EOM for cart-pole system. Brockett83.pdf |
1/20/10 | - | |
| 1/21/10 | HW 2 | ALL FILES (.zip compression)
<- This has ALL the files listed below in it. (Review for 2.1 and 2.2: "RW cheatsheet", RW_return.m, RW_stairstep.m; Review for 2.3 and 2.4: DW2008 Tutorial (on Jacobian) and ANSWERS; [more] For 2.3 and 2.4, these 6 m-files are required: cg_step.m, cg_eom.m, cg_params.m, cg_gam_slope.m, cg_find_impact.m, cg_impact.m Extra code (for animation; not required!): cg_demo_script.m, cg_animate.m, cg_draw.m) |
1/27/10 | - | |
| 1/30/10 | HW 3 | acrobot_collocated_linearization.m; acrobot_animate.m; | 2/5/10 | - | |
| 2/16/10 | HW 4 | See Lecture 9 Notes on the Lagrangian and on mechanical impedance. | 2/24/10 | - | |
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Last Updated: February 23, 2010