教学工作
Summer Deep Dynamic Robot Practice Course (2019)
本次课程圆满结束，浙江大学航空航天学院和应用力学所新闻报道了本课程！ （新闻链接）
This course is intended for fans of robots, especially who love dynamic robots. We have specially designed the course and prepared all parts necessary for building dynamic quadruped robots, better than most of the known quadruped robots. Hope you can enjoy it! Happy summer!
Course Description
The course introduces the design and control principles of dynamical robots, as exampled by the MIT mini Cheetah quadruped robot, a fabulous dynamical under-actuated mechanical system. We will introduce both theories and practices, focusing on how to project theories into designs and how to dig the fundamental principles underlying practices. "Hands-on" is the most efficient way in learning, especially if you can learn while playing.
Topics include forward and inverse kinematics, robot simulation in a python-based physical engine, nonlinear control and modern control theory, deep-mimc dynamics of robotic control with motion capture, actuator design and motor control. Hopefully, we can keep you in touch with most advanced technology development, such as AI. You can design and develop robots that are more dynamic and more agile than the current state-of-the-art later on.
Course Information
Instructor
Prof. Hongtao Wang (Email: [email protected])
Teaching Assistant
Ph.D. Candidate: Shaowen Cheng (Email: [email protected])
Goal
（１）Hand on dynamical robots;
（２）Understand the design, modelling, simulation, assemble and control;
（３）Keep in touch with most advanced technology development, such as AI;
（４）Develop the tools necessary to design robots that are more dynamic and more agile than the current state-of-the-art.Grading
（１）No grading;
（２）We will provide Fans of Robot the best playground;
（３）This is your Garage.
Students are from different universities and majors
| 学校 |
|
专业 | 本科/研究生 | 年级 |
| 浙江大学 |
|
工程力学 | 本科生 | 大三 |
| 中国科学技术大学 |
|
理论与应用力学 | 本科 | 大二 |
| 浙江大学 |
|
飞行器设计与工程 | 本科 | 大二升大三 |
| 浙江大学 |
|
工程力学 | 本科 | 大三 |
| 浙江大学 |
|
固体力学 | 研究生 | 直博生一年级 |
| 大连理工大学 |
|
工程力学 | 本科 | 大三 |
| 浙江大学 |
|
过程装备与控制工程 | 本科 | 17级 |
| 浙江大学 |
|
海洋工程与技术 | 本科 | 大二 |
Lecture
The lectures, assignments, textbook, and some reference materials will be all be open and available online.
Aug. 04
Summer Deep Dynamic Robot Practice Course Syllabus
Aug. 05
Lecture Slide: Introduction
Lecture Slide: Tutorial
Minicheetah dynamic parameters
Aug. 06
Update: Summer Deep Dynamic Robot Practice Course Syllabus
Lecture Slide: Phasor
|
Reading Materials on Electric Motors: Aug. 09 Lecture Slide: Electric Motors Aug. 10 Lecture Slide: Electric Motors Testing Reference: Chap. 2 in Katz Mater Thesis @ MIT Reference: Motor testing by AnDa Zhou |
Aug. 11
Lecture Slide: Control a
Aug. 12
Lecture Slide: Control b
Lecture Slide: Control c
Lecture Slide: Control d
Lecture Slide: Control e
Lecture Slide: Control f
Control Bootcamp Videos
