ME 392: Robotics with MuJoCo

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Overview

The 12-week course teaches fundamentals of robotics using MuJoCo, a robotics simulator. By the end of the course the student will learn

• Forward and inverse kinematics
• Dynamical equations of planar links
• Position, velocity, and torque control
• Finite State Machines
• Modeling using xml files
• Fundamentals of writing C code including makefile

Grading

• Homework (individual or group work): 40%
• Project (individual): 60%

Timeline

• Week 1-6: Lectures and related HW
• Week 7: Project selection
• Week 8 - 11: Project work
• Week 12: Final presentation and code submission

Lectures

• Lec 0 and Lec 1: Installation and Modeling
• Lec 2: Projectile with drag
• Lec 3: Position, velocity, torque control of a pendulum
• Lec 4: Model-based control of double pendulum
• Lec 5: Finite State Machine
• Lec 6: Jacobian and inverse kinematics.

Homework

• HW1 Rube Goldberg (Lec 1)
• HW2 Coupled Pendulum (Lec 2)
• HW3 Rott’s Pendulum (Lec 3 and Lec 4)
• HW4 Pumping a swing (Lec 3 and Lec 5)
• HW5 Manipulator drawing (Lec 6)

Potential Projects

1. Differential drive car modeling and control to follow a given trajectory
2. Maze solving robot (uses wall following to reach a target)
3. Balance a cart-pendulum (see LQR controllers)
4. Quadcopter modeling and control
5. Industrial arm control (pick and place)
6. Create an interactive game of your choice in MuJoCo (e.g., pin-ball)
7. Legged robot modeling and control
8. Project related to optimization and robotics
9. Project of your choosing with discussion with the instructor.