课程大纲
COURSE SYLLABUS
1.
课程代码/名称
Course Code/Title
高等机器人控制 Advanced Control for Robotics
2.
课程性质
Compulsory/Elective
专业课/Elective
3.
课程学分/学时
Course Credit/Hours
3 学分/48 学时
3 Credits /48 Hours
4.
授课语言
Teaching Language
英文
English
5.
授课教师
Instructor(s)
张巍
Wei Zhang
6.
是否面向本科生开放
Open to undergraduates
or not
否 no
7.
先修要求
Pre-requisites
研究生：无
8.
教学目标
Course Objectives
本课程主要目的是培养机器人方向的研究生数学、优化与控制基础。教学生如何辨识、刻化、和求
解机器人中的优化问题。内容包括高等机器人动力学以及其与优化的关系、最优控制、轨迹优化、
模型预测控制、足式机器人最优控制等。
The objective of this course is for students to develop the ability to recognize, formulate, and solve
optimization problems within the context of robotics applications. We will consider a range of classical
problems spanning dynamics, identification, control, and estimation, and show how they can be posed as
constrained optimization problems. An emphasis will be placed on developing competency in control and
optimization theory and on applications within legged robotics.
9.
教学方法
Teaching Methods
课堂讲授，课后习题，和大作业
Lecture and projects
10.
教学内容（需要写到 section 16）
Course Contents
Section 1
相关数学与优化背景介绍
Math and Optimization Review
Section 2
空间向量、空间力与空间动量
Spatial Vector, forces, and Momentum
Section 3
多刚体动力学
Multibody Dynamics
Section 4
接触模型
Modeling Contacts
Section 5
最优控制基础
Introduction to Optimal Control
Section 6
多刚体动力学的最优控制解释
Rigid Body Dynamics as an Optimal Control Problem
Section 7
ABA
算法
Articulated Body Algorithm
Section 8
Pontryagin
最大值原理
Pontrayagin’s Principle
Section 9
轨迹优化
Trajectory Optimization
Section 10
微分动态规划
Differential Dynamic Programming
Section 11
模型预测控制算法
Model Predictive Control Algorithm
Section 12
模型预测控制理论
Model Predictive Control Theory
Section 13
足式机器人简化模型
Simple models of locomotion
Section 14
足式机器人动力学分析
Dynamics of Legged robot
Section 15
足式机器人模型预测控制
Model Predictive Control for Legged Robot
Section 16
大作业项目汇报
Project Presentation
11.
课程考核
Course Assessment
Homework (30%), Programming Assignment (20%), Midterm (25%), Final Project 25%
12.
教材及其它参考资料
Textbook and Supplementary Readings
Rigid-Body Dynamics Algorithms - Roy Featherstone
Calculus of Variations and Optimal Control Theory - Daniel Liberzon
A Mathematical Introduction to Robotic Manipulation - Richard M. Murray, Zexiang Li, S. Shankar Sastry
