Instructor: James Bern
Dates: Jan 10, 2022 - Jan 14, 2022
Time: 10:00am - 11:00am Lecture, 11:00am - 12:00pm Lab
Take this class to learn how to write your own interactive visualizations and simulations from scratch.
- In lecture you will learn new concepts and programming techniques.
- In lab you will visualize and simulate robots from the ground up using data-oriented C/C++ code.
-- Our code will be small, simple, and compile in about one second.
- 6.0001 + 6.0002, or equivalent experience.
- Familiarity with C or C++ (or the ability to quickly pick up the basics)
Note: Labs will be open-ended, with plenty to learn regardless of prior experience. If you are an expert there should still be new ideas and techniques for you to pick up. If you are relatively new to C/C++ the course should still be accessible and useful :)
Day 0: Data-Oriented Interactive Visualization
Lab: DRAW_(...) and DRAG_(...)
Day 1: Review, Forward Kinematics
Lab: Robot Arm FK
Day 2: Newton's Method, CMA-ES
Lab: Robot Arm IK
Day 3: Linkages
Lab: Quasi-Static Linkage Simulation
Optional Lab: Computational Design of Jansen's Linkage
Day 4: Soft Robots
Lab: Quasi-Static Soft Robot Simulation
Optional Lab: Soft Inverse Kinematics