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<!doctype html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<title>ME392: Robotics with MuJoCo</title>
<meta name="description" content="Undergraduate course on Robotics and MuJoCo">
<meta name="author" content="Pranav Bhounsule">
<link rel="stylesheet" href="style_doc_mujoco2022.css?">
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</head>
<body>
<div class="navbar clear nav-top">
<div class="row content">
<!-- <a href="#"><img class="logo" src="logo.svg"></a>-->
<!-- <a class="right" style="text-decoration: underline;" href="#"><i class="fas fa-book"></i> Documentation</a>-->
<!-- <a class="right" href="mailto:[email protected]" target="_blank"><i class="fas fa-paper-plane"></i> [email protected]</a>-->
</div>
</div>
<div class="container clear">
<div class="row wrapper">
<div class="sidepanel">
<a class="title" href="#overview">Overview</a>
<!--
<a class="section" href="#">Supported Versions</a>
<a class="section" href="#">About this App</a>
<a class="section" href="#technology">Technology</a>
-->
<!-- <div class="divider left"></div>-->
<a class="title" href="#grading">Grading</a>
<a class="title" href="#timeline">Timeline</a>
<a class="title" href="#lectures">Lectures</a>
<a class="title" href="#homework">Homework</a>
<a class="title" href="#projects">Potential Projects</a>
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<h1 style="color:blue;font-size:50px;">ME 392: Robotics with MuJoCo</h1>
<br>
<p> Click to go to <a href="https://pab47.github.io/mujoco.html">MuJoCo Bootcamp</a></p>
<br id="overview">
<br>
<h1>Overview</h1>
<p >The 12-week course teaches fundamentals of robotics using MuJoCo, a robotics simulator. By the end of the course the student will learn
</p>
<ul>
<li>Forward and inverse kinematics</li>
<li>Dynamical equations of planar links</li>
<li>Position, velocity, and torque control</li>
<li>Finite State Machines</li>
<li>Modeling using xml files</li>
<li id="grading">Fundamentals of writing C code including makefile</li>
</ul>
<br>
<h1>Grading</h1>
<ul>
<li>Homework (individual or group work): 40%</li>
<li id="timeline">Project (individual): 60%</li>
</ul>
<br>
<h1>Timeline</h1>
<ul>
<li>Week 1-6: Lectures and related HW</li>
<li>Week 7: Project selection</li>
<li>Week 8 - 11: Project work</li>
<li id="lectures">Week 12: Final presentation and code submission</li>
</ul>
<br>
<h1>Lectures</h1>
<ul>
<li><a href="https://pab47.github.io/mujoco.html#lec1">Lec 0 and Lec 1: Installation and Modeling</a> </li>
<li><a href="https://pab47.github.io/mujoco.html#lec2">Lec 2: Projectile with drag </a> </li>
<li><a href="https://pab47.github.io/mujoco.html#lec3">Lec 3: Position, velocity, torque control of a pendulum</a> </li>
<li><a href="https://pab47.github.io/mujoco.html#lec4">Lec 4: Model-based control of double pendulum</a> </li>
<li><a href="https://pab47.github.io/mujoco.html#lec1">Lec 5: Finite State Machine</a> </li>
<li id="homework"><a href="https://pab47.github.io/mujoco.html#lec6">Lec 6: Jacobian and inverse kinematics. </a> </li>
</ul>
<br>
<h1>Homework</h1>
<ul>
<li><a href="https://pab47.github.io/mujoco/homework/Hw1_mjc.pdf">HW1 Rube Goldberg (Lec 1)</a> </li>
<li><a href="https://pab47.github.io/mujoco/homework/Hw2_mjc.pdf">HW2 Coupled Pendulum (Lec 2)</a> </li>
<li><a href="https://pab47.github.io/mujoco/homework/Hw3_mjc.pdf">HW3 Rott’s Pendulum (Lec 3 and Lec 4)</a> </li>
<li><a href="https://pab47.github.io/mujoco/homework/Hw4_mjc.pdf">HW4 Pumping a swing (Lec 3 and Lec 5)</a> </li>
<li id="projects"><a href="https://pab47.github.io/mujoco/homework/Hw5_mjc.pdf">HW5 Manipulator drawing (Lec 6)</a> </li>
</ul>
<br>
<h1>Potential Projects</h1>
<ol>
<li>Differential drive car modeling and control to follow a given trajectory</li>
<li>Maze solving robot (uses wall following to reach a target)</li>
<li> Balance a cart-pendulum (see LQR controllers) </li>
<li> Quadcopter modeling and control</li>
<li> Industrial arm control (pick and place) </li>
<li> Create an interactive game of your choice in MuJoCo (e.g., pin-ball) </li>
<li> Legged robot modeling and control </li>
<li> Project related to optimization and robotics </li>
<li> Project of your choosing with discussion with the instructor. </li>
</ol>
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