| Dates |
Topic |
Supporting Math
Concept |
Book Section |
Homework |
Notes |
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| 29-Aug |
Joints/Links,
configuration space, intro to velocity |
Direct product,
isomorphism (homeomorphisms),diffeomorphism, manifold, groups, Lie
group, tangent spaces, vector
fields |
1.1-1.2, 1.4 |
|
Howie |
| 31-Aug |
Rigid bodies in
SE(2) |
Semi-direct
products, linear algebra ( vector
algebra, matrix anxiety, null spaces, index notation?) |
1.2-1.4 |
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Howie |
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Howie |
| 5-Sep |
Labor Day |
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No class |
| 7-Sep |
SE(2)
velocities, spatial and body velocities |
lifted actions, lifted action examples,
geodesics |
1.5 |
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Howie |
| 12-Sep |
SE(2) velocities |
adjoint and
exponential map |
1.6 |
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Ross |
| 14-Sep |
Finish chapter 1
day |
frames, notation |
1 |
HW1 Assigned |
Ross |
| 19-Sep |
Articulated
sytems, fixed base systems (new ross notation), proximal vs. medial vs.
distal, start mobile articulated systems |
holonomic
constraints |
2.1-2.2 |
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Howie |
| 21-Sep |
mobile
articulated systems, generalized body frames |
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2.3-2.4 |
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Ross |
| 26-Sep |
IROS |
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No class |
| 28-Sep |
IROS |
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No class |
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| 3-Oct |
Jacobians |
Review adjoints |
2.5 |
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Howie |
| 5-Oct |
Jacobian
examples |
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2.5 |
HW 1 Due HW 2 Assigned |
Howie |
| 10-Oct |
Kinematic
Locomotion up to differential car - Pfaffian constraints and Connection,
connection vectorfields |
directional
linearity, linearity, nonholonomic constraints |
3.1-3.3 |
HW1-A,B |
Howie |
| 12-Oct |
Connection
vectorfields, no-slide and inertial constraints locomotion |
one-forms,
co-vectors, Noether's Theorem |
3.4 |
HW1-C |
Howie |
| 17-Oct |
Connection
vectorfields, no-slide and inertial constraints locomotion |
Noether's
Theorem revisited |
3.4 |
HW1-D |
Howie |
| 19-Oct |
Locomotion in
fluids |
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3.4 |
HW1-E |
Ross? |
| 24-Oct |
Gaits |
Basic definition
of non-communitive and non conservative effects, Lie bracket, curl and Stokes
Theorem |
4.foo |
HW 2 Due HW 3 Assigned |
Howie |
| 26-Oct |
Gaits - unify
concepts |
review
one-forms, two forms, reexplain curl, Lie brackets, and Stokes theorem again |
4.bar |
HW 2-A,B |
Howie |
| 31-Oct |
Ross Code |
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HW 2-C,D |
Howie |
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| 2-Nov |
Chap 3 and 4
Review |
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HW 3 DUE Assign HW 4 (code) |
Howie |
| 7-Nov |
Murray and Walsh
Papers |
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Students |
| 19-Nov |
Coordinate
Optimization |
Hodge-Helmoltz
Decomposition |
5 |
Re-assign HW 4 |
Howie |
| 14-Nov |
Hatton (swim)
and Meli Papers |
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Students |
| 16-Nov |
Gait efficiency |
Distance
metrics, geodesics, curvature |
5 |
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Howie |
| 21-Nov |
Pre-thanksgiving |
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No class |
| 23-Nov |
Pre-Thanksgiving |
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No class |
| 28-Nov |
Kelly Paper |
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HW 4 due |
Students |
| 30-Nov |
Finish Chap 5,
Begin Mode Shapes |
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Ross |
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| 5-Dec |
TBD |
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| 7-Dec |
TBD |
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