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
  • 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. 1/20/2015. Swingup control lab. video
  • 2. 1/22/2015. Magnetic levitation lab. (Emily Chen). video
  • 3. 1/27/2015. Simulated fly reorientation.
  • 4. 1/29/2015. Controlled Flight of a Biologically-Inspired, Insect-Scale Robot video
  • 5. 2/3/2015. Oscillation Damping, Collision Detection and Reaction for a Multi-Elastic-Link Robot Arm video
  • 6. 2/5/2015. Prof. R. D'Andrea, ETH Zurich, Ball Juggling Quadrotors video
  • 7. 2/10/2015. Aggressive Maneuvers for Autonomous Quadrotor Flight Univ. of Pennsylvania Movie
  • 8. 2/12/2015. Spot the Robot Dog. Movie
  • 9. 2/17/2015. RHex the Parkour Robot. Movie
  • 10. 2/19/2015. 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.
  • 11. 2/24/2015. New more dynamic ASIMO. (Link courtesy of S. Chan). video Spectrum brief article link
  • 12. 2/26/2015. Cornell Ranger robot video
  • 13. 3/3/2015. no video (survey)
  • 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
  • 16. 3/12/2015. no video (Midterm)
  • 17. 3/17/2015 Active damping of structure. video
  • 18. 3/19/2015 (repeat) Magnetic levitation lab.
  • 19. 3/31/2015 Nelson Lab, ETHZ, "OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation", IEEE Int. Conf. on Robotics and Automation, May 2010 Video
  • 20. 4/2/2015. Aeon Phocus magnetically steered catheter system, 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
  • 22. 4/9/2015. (repeat) Swingup control lab. video
  • 23. 4/14/2015. Acrobot sim (UCB 1989). video. Acrobot swingup using sum-of-squares. video. Paper: Majumdar, Ahmadi, Tedrake, ICRA 2013.
  • 24. 4/16/2015. Visual Control of H2-Bird. video Paper: Julian, Rose, Fearing AAMAS2013.
  • 25. 4/21/2015. TAYLRoACh video and SailRoACH video
  • 26. 4/23/2015. guest lecture
  • 27. 4/28/2015. High-Speed Autonomous Navigation. C. Richter, J. Ware, N. Roy, ICRA 2014. video
  • 28. 4/30/2015. Robotic arm visual servoing (GTRI) video

    Previous EE128/ME134 Web sites

  • 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 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