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. 1/17/2017. Swingup control lab. video

2. 1/19/2017. Magnetic levitation lab. (Emily Chen). video

3. 1/24/2017. Simulated fly reorientation.

4. 1/26/2017 no video

5. 1/31/2017. Controlled Flight of a Biologically-Inspired, Insect-Scale Robot video

6. 2/2/2017. no video

7. 2/7/2017. AFM principles video Virus Nanoindentation by AFM, Movie Disassembly of immature virus induced by mechanical fatigue with AFM Movie
Binnig, Gerd, Heinrich Rohrer, Ch Gerber, and Edmund Weibel. "Surface studies by scanning tunneling microscopy." Physical review letters 49, no. 1 (1982): 57.

8. 2/9/2017. no video

9. 2/14/2017. Oscillation Damping, Collision Detection and Reaction for a Multi-Elastic-Link Robot Arm video

10. 2/16/2017. Hummingbird flight. video and video

11. 2/23/2017. Prof. R. D'Andrea, ETH Zurich, Ball Juggling Quadrotors video

12. 2/28/2017. Boston Dynamics Handler video

13. 3/2/2017. Ghost Minitaur video

16. midterm

18. 3/16/2017. Aeon Phocus magnetically steered catheter system, video

19. 3/21/2017. Nelson Lab, ETHZ, "OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation", IEEE Int. Conf. on Robotics and Automation, May 2010 Video

20. 3/23/2017 EE192: The Autonomous Racing Vehicle Project (Emily Chen) video

21. 4/3/2017. New more dynamic ASIMO. (Link courtesy of S. Chan). video Spectrum brief article link

22. 4/5/2017. Active damping of structure. video

23. 4/11/2017. (repeat) Swingup control lab. video

24. 4/13/2017. Mag Lev lab, Spring 2017. L. Brandt

25. 4/18/2017. Acrobot sim (UCB 1989). video. Acrobot open loop video . Acrobot swingup using sum-of-squares. video. Paper: Majumdar, Ahmadi, Tedrake, ICRA 2013.

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

Extra Video
Autonomous Drifting using Machine Learning (courtesy of M. Traganza) 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