Advanced Robot Dynamics and Simulation

Catalog description

This course explores the fundamental mathematics behind modeling the physics of robots, as well as state-of-the-art algorithms for robot simulation. We will review classical topics like Lagrangian mechanics and Hamilton's Principle of Least Action, as well as modern computational methods like discrete mechanics and fast linear-time algorithms for dynamics simulation. A particular focus of the course will be rigorous treatments of 3D rotations and non-smooth contact interactions (impacts and friction) that are so prevalent in robotics applications. We will use numerous case studies to explore these topics, including quadrotors, fixed-wing aircraft, wheeled vehicles, quadrupeds, humanoids, and manipulators. Homework assignments will focus on practical implementation of algorithms and a course project will encourage students to apply simulation methods to their own research.