Problem Set 1

Exercises are taken from the textbook chapters. Maximum score for this problem set is 20 points and the due date is Wednesday, September 13th, 2023 (11:59PM Eastern Time)

  • Exercise 1.1: (a) 1 point, (b) 1 point, (c) 1 point.
  • Exercise 2.2: (a) 5 points, (b) 5 points.
  • Exercise 2.3: (a) 5 points
  • Past Project Summary: 1 point. Write a short paragraph about one previous project, see below for details.
  • Survey: 1 point. After submitting the survey, write the keyword at the end of your written submission. The survey is anonymous!

Exercise 2.2 (a) and 2.3 (a) are coding problems. You can work directly in Deepnote. Once you are satisfied with your work, download the final version of the notebook and upload both notebooks to Gradescope's "Notebook Submission"

Exercise 2.2 (b) asks for a qualitative answer. You can write you answer in your notebook, but will have to submit to the "Written Submission" section of Gradescope.

If you do not have a Gradescope account, you will be required to create one. Please use your @mit.edu email to register. There are separate Gradescope courses for 6.4210 and 6.4212; look for 6.4210 Robotic Manipulation (Undergraduate Version) or 6.4212 Robotic Manipulation (Graduate Version) depending on which course you're registered for. Join using the corresponding access code we provided in Piazza.

You will have to make two submissions for this problem set:

  • Problem Set 1, Written Submission. All written problems (1.1 and 2.2 (b)) belong in this submission, as well as the past project summary and survey code.
  • Problem Set 1, Notebook Submission. The final versions of your notebook 02_hardware_station_io.ipynb and 03_direct_joint_control.ipynb(downloaded from Deepnote). Please double check that the notebook you are submitting has exactly this name.
For the notebook submission, Gradescope will give you a grade within approximately 10-15 seconds. You can resubmit as many times as you like before the deadline.

For the past project summary, please watch one of the videos from the playlist of oustanding final projects from Fall of 2022, and write a short 3-5 sentence summary of the project. Please indicate which video you watched, and write no more than 100 words.

Finally, we have a small survey. After you take the survey, you will be given a code. Include this code in your written submission.