| Day | Topic | Readings |
| Tue, Sep 14 | Introduction and basic mechanics |
- Introduction
- Marion and Thornton, Chapter 2
|
| Tue, Sep 21 | Oscillations, Calculus of Variations, Lagrangian Mechanics |
- Marion and Thornton, Chapters 3.1-3.5, 6, 7.1-7.6
|
| Tue, Sep 28 | Paper discussion |
- T. Novachek. The Biomechanics of Running. Gait and Posture. 7 (1998) 77-95. [paper] Focus on Sec 2, 5.1, 6,7,9, Fig. 10 [Michael G]
- A. Witkin, M. Kass. Spacetime constraints. SIGGRAPH 1988 [paper] [video] [Micha]
- K. Sims. Evolving Virtual Creatures. SIGGRAPH 1994. [web] [Aby]
- R. M. Alexander. Design By Numbers. Nature. Aug 9, 2001 [web] [paper]
W. J. Sutherland. The best solution. Nature. June 2, 2005. [paper] [Babak]
|
| Tue, Oct 5 | Dynamics of particle systems, Rigid-Body Mechanics |
- Marion and Thornton, Chapters 9.1-9.5, 11.1-11.4
|
| Tue, Oct 12 | Paper discussion |
- R. J. Full, D. E. Koditschek. Templates and Anchors: Neuromechanical Hypotheses of Legged Locomotion on Land. J. Exp. Biology. 202:3325-3332 (1999). [paper] [Huixuan]
- S. H. Collins, A. L. Ruina, R. Tedrake, M. Wisse, Efficient bipedal robots based on passive-dynamic Walkers, Science, 307: 1082-1085, 2005 [web]
R. M. Alexander. Walking Made Simple. Science (Perspectives). 2005. [paper] [enhanced web version]
Background: T. McGeer. Passive Dynamic Walking. IJRR 1990. [paper] [video] [Yanshuai]
- M. H. Raibert, J. K. Hodgins. Animation of Dynamic Legged Locomotion. SIGGRAPH 1991. [web] [Mazen]
- K. Yin, K. Loken, M. van de Panne. SIMBICON: Simple Biped Locomotion Control. SIGGRAPH 2007. [web] [Ben]
|
| Tue, Oct 19 | Articulated rigid body simulation
(Martin de Lasa) |
- E. Kokkevis, Practical Physics for Articulated Characters. GDC 2004 tutorial. [paper] Read up to Section 4
- K. Waldron, J. Schmiedeler. Kinematics. In Springer Handbook of Robotics. 2008. [web]
- R. Feathersone, D. E. Orin. Dynamics. In Springer Handbook of Robotics. 2008. [web]
|
| Tue, Oct 26 | Paper discussion |
- C. K. Liu, A. Hertzmann, Z. Popović. Learning Physics-Based Motion Style with Nonlinear Inverse Optimization. SIGGRAPH 2005. [web] [Bo]
- M. da Silva, Y. Abe, J. Popović. Interactive Simulation of Stylized Human Locomotion. SIGGRAPH 2008. [paper] [video] [Mohammad]
- A. Macchietto, V. Zordan, C. R. Shelton. Momentum Control for Balance. SIGGRAPH 2009. [web] [Yanshuai]
Related: S. Kudoh et al. The Dynamic Postural Adjustment with the Quadratic Programming Method. IROS 2002. [paper]
- H. Herr, M. Popovic. Angular momentum in human walking. J. Exp Biology 211, 467-481. 2008. [paper] [Matthew]
|
| Tue, Nov 2 | Paper discussion |
- S. Coros, P. Beaudoin, M. van de Panne. Generalized Biped Walking Control. SIGGRAPH 2010 [web] [Huixuan]
Background: Pratt et al. Virtual Model Control: An Intuitive Approach for Bipedal Locomotion. IJRR 2001. [web]
- M. de Lasa, I. Mordatch, A. Hertzmann. Feature-Based Locomotion Control. SIGGRAPH 2010. [web][Micha]
- S.M. LaValle and J.J. Kuffner. Randomized Kinodynamic Planning. IJRR 2001. [web] [RRT page 1] [RRT page 2] [Matthew]
Related: S. LaValle. Planning Algorithms. 2006. [web]
- J. Chestnutt, M. Lau, G. Cheung, J. Kuffner, J. K. Hodgins, T. Kanade. Footstep Planning for the Honda ASIMO Humanoid. ICRA 2005. [paper] [Mazen]
P. Michel, J. Chestnutt, J. Kuffner, T. Kanade. Vision-Guided Humanoid Footstep Planning for Dynamic Environments. Humanoids 2005. [paper]
|
| Tue, Nov 9 | November break | |
| Tue, Nov 16 | Reinforcement learning and optimal control |
- R. S. Barto and A. G. Sutton. Reinforcement Learning: An Introduction, 1998. [PDF] [HTML] Read sections 1-1.5, 3, 4-4.5, 5-5.1, Skim 6-6.6,7.3
- R. Tedrake. Underactuated Robotics Course Notes. [web] Chapter 10
|
| Tue, Nov 23 | Paper discussion |
- C. Harris and D. Wolpert. Signal-dependent noise determines motor planning. Nature, 394:780-784, 1998. [paper] [Michael]
- K. P. Körding, D. Wolpert. Bayesian Integration in Sensorimotor Learning, Nature 427:244-247 (2004) [paper] [Bo]
- J. M. Wang, D. J. Fleet, A. Hertzmann. Optimizing Walking Controllers for Uncertain Inputs and Environments. SIGGRAPH 2010. [web] [Mazen]
- R. Platt, R. Tedrake, L. Kaelbling, T. Lozano-Perez. Belief space planning assuming maximum likelihood observations. RSS 2010. [paper] [slides] [Micha]
|
| Tue, Nov 30 | Paper discussion |
- R. Tedrake, I. R. Manchester, M. M. Tobenkin, J. W. Roberts. LQR-Trees: Feedback motion planning via sums of squares verification. IJRR 2010 [journal version] [conf version] [Mohammad]
- I. Mordatch, M. de Lasa, A. Hertzmann, Robust Physics-Based Locomotion Using Low-Dimensional Planning. SIGGRAPH 2010. [web] [Huixuan]
- K. Wampler, E. Andersen, E. Herbst, Y. Lee, Z. Popović. Character Animation in Two-Player Adversarial Games. TOG 2010 [web] [Ben]
|
| Tue, Dec 7 | No class (NIPS) | |