teaching

Underactuated Robots (2022/2023)

Sapienza University of Rome – Prof. Leonardo Lanari

I taught a module (10h) covering:

1. Floating-base formulation of rigid body dynamics
2. Centroidal dynamics and simplified models of locomotion
3. Introduction to optimal control, direct and indirect methods
4. Global methods: Dynamic Programming, the Linear Quadratic Regulator (LQR)
5. Local trajectory optimization: Differential Dynamic Programming (DDP/iLQR), Single/Multiple Shooting, Direct Collocation

Material

Simulation examples and useful code: underactuated-examples

1. Wieber: Holonomy and Nonholonomy in the Dynamics of Articulated Motion, 2005 (pdf)
2. Orin, Goswami, Lee: Centroidal dynamics of a humanoid robot, Auton Robot, 2013 (pdf)
   Wensing, Posa, Hu, Escande, Mandard, Del Prete: Optimization-Based Control for Dynamic Legged Robots, 2022 (pdf)
3. Slides
4. Tedrake: Underactuated Robotics, course notes (ch 7: dynamic programming)
   Liberzon: Calculus of Variations and Optimal Control Theory, Princeton University Press, 2012 (ch 6: LQR)
5. Lectures from Prof. Moritz Diehl, Numerical Optimal Control
   Tassa, Erez, Todorov: Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization, IROS, 2012
   Gros, Zanon, Quirynen, Bemporad, Diehl: From linear to nonlinear MPC: bridging the gap via the real-time iteration, Int. Journal of Control, 2016

Applicazioni dell’Automatica - Introduzione alla Robotica Mobile (2020/2021)

Sapienza University of Rome – Prof. Giuseppe Oriolo

Slides on Automated Lane Keeping and introduction to Model Predictive Control available on the course website.