Dates 
Topic 
Supporting Math
Concept 
Book Section 
Homework 
Notes 












29Aug 
Joints/Links,
configuration space, intro to velocity 
Direct product,
isomorphism (homeomorphisms),diffeomorphism, manifold, groups, Lie
group, tangent spaces, vector
fields 
1.11.2, 1.4 

Howie 
31Aug 
Rigid bodies in
SE(2) 
Semidirect
products, linear algebra ( vector
algebra, matrix anxiety, null spaces, index notation?) 
1.21.4 

Howie 





Howie 
5Sep 
Labor Day 



No class 
7Sep 
SE(2)
velocities, spatial and body velocities 
lifted actions, lifted action examples,
geodesics 
1.5 

Howie 
12Sep 
SE(2) velocities 
adjoint and
exponential map 
1.6 

Ross 
14Sep 
Finish chapter 1
day 
frames, notation 
1 
HW1 Assigned 
Ross 
19Sep 
Articulated
sytems, fixed base systems (new ross notation), proximal vs. medial vs.
distal, start mobile articulated systems 
holonomic
constraints 
2.12.2 

Howie 
21Sep 
mobile
articulated systems, generalized body frames 

2.32.4 

Ross 
26Sep 
IROS 



No class 
28Sep 
IROS 



No class 






3Oct 
Jacobians 
Review adjoints 
2.5 

Howie 
5Oct 
Jacobian
examples 

2.5 
HW 1 Due HW 2 Assigned 
Howie 
10Oct 
Kinematic
Locomotion up to differential car  Pfaffian constraints and Connection,
connection vectorfields 
directional
linearity, linearity, nonholonomic constraints 
3.13.3 
HW1A,B 
Howie 
12Oct 
Connection
vectorfields, noslide and inertial constraints locomotion 
oneforms,
covectors, Noether's Theorem 
3.4 
HW1C 
Howie 
17Oct 
Connection
vectorfields, noslide and inertial constraints locomotion 
Noether's
Theorem revisited 
3.4 
HW1D 
Howie 
19Oct 
Locomotion in
fluids 

3.4 
HW1E 
Ross? 
24Oct 
Gaits 
Basic definition
of noncommunitive and non conservative effects, Lie bracket, curl and Stokes
Theorem 
4.foo 
HW 2 Due HW 3 Assigned 
Howie 
26Oct 
Gaits  unify
concepts 
review
oneforms, two forms, reexplain curl, Lie brackets, and Stokes theorem again 
4.bar 
HW 2A,B 
Howie 
31Oct 
Ross Code 


HW 2C,D 
Howie 






2Nov 
Chap 3 and 4
Review 


HW 3 DUE Assign HW 4 (code) 
Howie 
7Nov 
Murray and Walsh
Papers 



Students 
19Nov 
Coordinate
Optimization 
HodgeHelmoltz
Decomposition 
5 
Reassign HW 4 
Howie 
14Nov 
Hatton (swim)
and Meli Papers 



Students 
16Nov 
Gait efficiency 
Distance
metrics, geodesics, curvature 
5 

Howie 
21Nov 
Prethanksgiving 



No class 
23Nov 
PreThanksgiving 



No class 
28Nov 
Kelly Paper 


HW 4 due 
Students 
30Nov 
Finish Chap 5,
Begin Mode Shapes 



Ross 






5Dec 
TBD 




7Dec 
TBD 



