University of California,
Santa Barbara
Department of Electrical and Computer Engineering
Robot Locomotion
ECE 594D - Winter 2010
Handouts and Additional Notes
| Date | Class | Topic | Link | Description | ||||
| - | - | Syllabus | UPDATED Syllabus | - REVISED (1/15/2010) course outline; includes a reading ("Reference") list. | ||||
| 1/4/10 | 1 | (1.) Locomotion: Underactuation and controllability | Slides from Lecture 1; no movies | - Lecture 1 (small) Notes - Full slides, but no embedded movies. (600KB file) | ||||
| Slides from Lecture 1; with movies | - Lecture 1 (big) Notes - Same as above, but includes movies. (WARNING: 32MB file!!) | |||||||
| 1/6/2010 | 2 | (2.2) Passive Dyn. Walking (PDW): Rimless Wheel (RW) | RW_Return_Map_Notes.pdf | - Lecture 2 Notes - "Cheat sheet" on Rimless Wheel step-to-step transitions. | ||||
| 1/11/2010 | 3 | (2.2) PDW: Stability and modeling (RW) | Rimless Wheel index | - ppt and MATLAB files for Mitch Craun's presentation on 1/11/2010. | ||||
| (2.2) PDW: Stability and modeling (CG) | Compass Gait model index | - ppt file for Milly Chen's presentation on 1/11/2010. | ||||||
| (2.2) PDW: Eigenanalysis of a Limit Cycle (Tutorial) | DW2008 tutorial files | - Files from Dynamic Walking conference tutorial. | ||||||
| (2.2) PDW: Eigenanalysis of a Limit Cycle (Notes) | Limit_Cycle_Stability.pdf | - Lecture 3 Notes - eigenvalues of the Jacobian for step-to-step return map (near a fixed point). | ||||||
| 1/13/10 | 4 | (3.1) Partial Feedback Linearization (PFL) | PFL_Notes.pdf | - Lecture 4 Notes - Partial Feedback Linearization (PFL) and Acrobot control (Spong94). | ||||
| 1/20/10 | 5 | (3.3) Zero-Moment Point (ZMP) | ZMP_Notes.pdf | - Lecture 5 Notes - Zero Moment Point (ZMP) and its use in robot motion planning. | ||||
| 2/3/10 | 9 | (-) Lagrangian Eq. of Motion (EOM) for SLIP | Lagrangian_eom_SLIP.pdf | - Lecture 9 Notes - Use of the Lagrangian to derive EOMs. | ||||
| 3/3/10 | 16 | (7.2) Rapidly-exploring Randomized Trees (RRTs) | RRT_mfiles_03032010.zip | - Lecture 16 Code - m-files for rapidly-exploring randomized trees. |
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Last Updated: March 4, 2010