Computer Science 690K - Adv Robot Dynamics and Control

This advanced course focuses on the dynamics and control of robotic systems, concepts crucial for understanding how robots move and interact with their physical surroundings. The content covered will go into greater depth than the more general course, CompSci 603 Robotics. Students will learn the kinematics and dynamics of robots with multiple degrees of freedom, as well as the analysis and control of these systems. Subjects covered include Lie group-based kinematics, Lagrangian dynamics, whole-body control, contact simulation, and actuation mechanisms. The course will utilize Google Colab and Python programming to develop simulation and analysis tools. Expect in-class exercises, weekly assignments/quizzes, a midterm examination, and a final project. Key topics to be explored are: actuators, homogeneous transformations, forward and inverse kinematics, 3D orientation representation, Newtonian dynamics, Lagrangian dynamics, whole-body control, and contact dynamics. While this course builds upon some themes introduced in CompSci 603, students are not required to take CompSci 603 before enrolling in this course. We will cover the foundational concepts necessary for the advanced study in this course.

Open to graduate students in Computer Science, Electrical & Computer Engineering, and Mechanical & Industrial Engineering. PREFERRED TO KNOW LINEAR ALGEBRA, BASIC PHYSICS, AND BASIC CONTROL. STUDENTS NEEDING SPECIAL PERMISSION MUST REQUEST OVERRIDES VIA THE ON-LINE FORM: https://www.cics.umass.edu/overrides.