EEC128/MEC134 Resources
Resources for the class will be added here.
Useful Readings
Linearization ME132 notes. Packard/Poolla/Horowitz. (Link Courtesy of Kiet Lam).
Phase variable canonical form (Lec 3)
List of Root Locus Rules
Controllability and Cayley-Hamilton notes
Separability of Observer and State Feedback dynamics (Lec 22)
Linear Quadratic Regulator (Lec 23)
Discrete Time State Space (Lec 24)
Dynamic effects in visual closed-loop systems.
Corke, P. I., & Good, M. C.,
IEEE Transactions on Robotics and Automation, 12(5), 671-683, 1996. (Lec 27)
``Robot Vision Control of robot motion''
Prof. Martin Jagersand , Univ. of Alberta (Lec 27)
Final Review Session Notes
Back to Agenda
Video List
1. 8/23/2018. Swingup control lab.
video
2. 8/28/2018. Magnetic levitation lab.
(Emily Chen). video
3. 8/30/2018. Simulated fly reorientation.
4. 9/4/2018. Controlled Flight of a Biologically-Inspired, Insect-Scale Robot video
5. 9/6/2018. AFM principles
video
Binnig, Gerd, Heinrich Rohrer, Ch Gerber, and Edmund Weibel. "Surface studies by scanning tunneling microscopy." Physical review letters 49, no. 1 (1982): 57. 6. 9/11/2018.
Virus Nanoindentation by AFM,
Movie
Disassembly of immature virus induced by mechanical fatigue with AFM
Movie
7. 9/13/2018.
Oscillation Damping, Collision Detection and Reaction for a Multi-Elastic-Link Robot Arm
video
8. 9/18/2017. Hummingbird flight.
video [deleted]
and
video [deleted]
8. 9/24/2019. High-Speed Robot Hand (2009) M. Ishikawa/M. Shimojo
video
9. 9/26/2019. OpenAI Hand Block Manipulation
video
10. 10/1/2019. Prof. R. D'Andrea, ETH Zurich, Ball Juggling Quadrotors
video
11. 10/3/2019. Boston Dynamics Handler
video
12. 10/8/2019. Aeon Phocus magnetically steered catheter system,
video
13. 10/10/2019 EE192: The Autonomous Racing Vehicle Project (Emily Chen)
video
15. 10/17/2019. Ghost Minitaur
video
16. 10/22/2019 review
17. 10/24/2019 midterm
18. 10/29/2019. Nelson Lab, ETHZ,
"OctoMag: An Electromagnetic System for 5-DOF Wireless
Micromanipulation", IEEE Int. Conf. on Robotics and Automation, May 2010
Video
19. 10/31/2019. Cubli (D'Andrea Lab ETHZ)
video
20. 11/5/2019. Miniature Ionocraft (Pister Lab 2018)
video
21. 11/7/2019. (repeat) Swingup control lab.
video
22. 11/12/2019. Acrobot sim (UCB 1989).
video.
Acrobot open loop
video .
Acrobot swingup using sum-of-squares.
video.
Paper: Majumdar, Ahmadi, Tedrake, ICRA 2013.
23. 11/14/2019.
MIT cheetah robot lands the running jump
video
24. 11/19/2019.
SALTO robot: Hopping outside using onboard attitude estimation
video
25. 11/26/2019. Active damping of structure.
video
26. 12/3/2019. Neutrophil chasing bacteria, and S. Martel Magnetotactic Bacteria.
24. 11/13/2018.
Autonomous Drifting using Machine Learning (courtesy of M. Traganza)
ICRA 2016
video
21. 4/3/2017. New more dynamic ASIMO. (Link courtesy of S. Chan).
video
Spectrum brief article
link
24. 4/13/2017. Mag Lev lab, Spring 2017. L. Brandt
26. 4/20/2017. High-Speed Autonomous Navigation.
C. Richter, J. Ware, N. Roy, ICRA 2014.
video
27. 4/25/2017. Robotic arm visual servoing (GTRI)
video
Previous Videos
7. 9/17/2015. Aggressive Maneuvers for Autonomous Quadrotor Flight
Univ. of Pennsylvania
Movie
9. 9/24/2015. Spot the Robot Dog.
Movie
10. 9/29/2015. RHex the Parkour Robot.
Movie
11. 10/1/2015. MIT Cheetah Robot.
Movie
12. 10/6/2015. From Compliant Balancing to Dynamic Walking on Humanoid Robot: Integration of CNS and CPG, Sang-Ho Hyon, Jun Morimoto and Mitsuo Kawato IEEE Int. Conf. Robotics and Automation, Anchorage, May 2010.
25. 11/19/2015. Visual Control of H2-Bird.
video Paper: Julian, Rose, Fearing AAMAS2013.
12. 2/26/2015. Cornell Ranger robot
video
14. 3/5/2015. Stability Control - How Does ESP Work (Bosch)
video
15. 3/10/2015. KAIST Raptor robot runs at 46 km/h,
Active tail stabilization
video
21. 4/7/2015
Nelson Lab, ETHZ, ``MagMites - Microrobots for Wireless Microhandling
in Dry and Wet Environments,''
IEEE Int. Conf. on Robotics and Automation, May 2010
Video
25. 4/21/2015. TAYLRoACh
video
and
SailRoACH
video
Previous EE128/ME134 Web sites
Spring 2017
midterm and
soln
Fall 2015
Final: exam
and
soln
Spring 2015
Final: exam and
soln
Fall 2014
Fall 2011
Fall 2011 Midterm
and
Fall 2011 MT soln
Fall 2011 Final
and
Fall 2011 Final soln
Fall 2010 Midterm
and Fall 2010 Midterm Odd Solutions
and Fall 2010 Midterm Even Solutions
Fall 2010 Final
and Fall 2010 Final solution
Fall 2010
Fall 2007
Nise Text
Errata
Table 2.1, Item 4, should be
$$\frac{n!}{s^{n+1}}$$
Nise 6th Edition Appendices
Appendix G: Matrices, Determinants, and Systems of Equations
Appendix I Derivation of a Schematic for a DC Motor
Appendix J Derivation of the Time Domain Solution of State Equations
Appendix K Solution of State Equations for t0 <> 0
Appendix L Derivation of Similarity Transformations
Appendix M Root Locus Rules: Derivations