16-715 Advanced Robot Dynamics and Simulation

12 units, Carnegie Mellon University

This course explores the fundamental mathematics behind modeling the physics of robots, as well as stateoftheart algorithms for robot simulation. We will review classical topics like Lagrangian mechanics and Hamiltons Principle of Least Action, as well as modern computational methods like discrete mechanics and fast lineartime algorithms for dynamics simulation. A particular focus of the course will be rigorous treatments of 3D rotations and nonsmooth contact interactions impacts and friction that are so prevalent in robotics applications. We will use numerous case studies to explore these topics, including quadrotors, fixedwing 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.

Prerequisites: none listed

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