Robotic Manipulation and Interaction
Robotic Manipulation and Interaction
This course is an introduction to the field of robotics, focusing on dynamics and grasping and manipulation. It covers the fundamentals of kinematics, dynamics, and control of robot manipulators, robotic vision, and sensing.
The course is a sequel to EE 106A/Bioengineering C125 and EE206A which covers kinematics, dynamics and control of a single robot. This course will cover dynamics and control of groups of robotic manipulators coordinating with each other and interacting with the environment including people. Concepts will include an introduction to grasp modeling with friction, grasp planning, and Dex-Net a data driven approach to robust robot grasping and manipulation based on a data set of 3D object models that currently includes over 10,000 3D object models and 2.5 million parallel-jaw grasps.. The course will also cover constrained manipulation, perception guided manipulation, including concepts of holonomy and non-holonomy. Throughout, we will emphasize design and human-robot interactions and applications in manufacturing, service robotics, and locomotion.
This course will be taught in a seminar style, with homework, three small projects/labs, and a final project. All submissions will go through GradeScope, which you all should have been added to. A piazza page has been created for students to discuss homeworks and projects. Note that there will be no exams in this course.
The required text is Richard Murray, Zexiang Li and S. Shankar Sastry: "A Mathematical Introduction to Robotic Manipulation" (first edition digitally available here). Additional lectures will cover active perception and recent advances in grasping and robotics complete with guest lectures, and may require additional reading.
If you need disability-related accommodations in this class, if you have emergency medical information you wish to share with us, or if you need special arrangements in case the building must be evacuated, please inform us immediately. Please see the professor or GSIs privately after class or in the office.
|Tu||3:30-4:30pm||Katie Driggs-Campbell / Jeff Mahler||299 Cory|
|Th||3:30-4:30pm||Katie Driggs-Campbell / Jeff Mahler||299 Cory|
|Professor||Ruzena Bajcsyfirstname.lastname@example.org||TuTh 1:00-3:00pm 719 SDH|
|Professor||Shankar Sastryemail@example.com||By Appointment|
|Professor||Ken Goldberg||goldberg@berkeley||Wed 2:00-3:00pm 425 SDH|
|GSI||Katie Driggs-Campbell||katie.the.headta@gmail||Mon 9:30-11:00am 212 Cory|
|GSI||Jeff Mahler||jeff.b.mahler@gmail||Wed 3:30-5:00pm 283E Soda|
Note that appointments can be made with any of the instructors or GSIs, if needed.
The lab in 119 Cory is open for use for the mini-labs/projects and the final project. The robots/hardware will be shared. Reserve time on the calendars below.
Grading Break Down
- RB = Prof. Ruzena Bajcsy
- SS = Prof. Shankar Sastry
- KG = Prof. Ken Goldberg
- FP = Dr. Florian Pokorny
- RM = Rob Matthews
- AB = Aaron Bestick
Most resources such as slides and related papers can be found in the "Files-Lectures" section.
|Lecture||Date||Topic||Lecturer||Notes and Additional Resources|
|2||01/21/16||Review of Rigid Body Motion||SS||MLS Chapter 2|
|3||01/26/16||Review of Manipulator Kinematics||SS||MLS Chapter 3|
|4||01/28/16||Robot Dynamics||SS||MLS Chapter 4, Sections 2 & 3|
|6||02/04/16||Trajectory Tracking||RB||MLS Chapter 4, Section 5|
|7||02/09/16||Constrained Manipulation I||SS||MLS Chapter 4, Section 6|
|8||02/11/16||Intro to Grasping||FP||MLS Chapter 5, Section 1|
|9||02/16/16||Constrained Manipulation II||SS|
|10||02/18/16||Grasp Quality Metrics||FP||
MLS Chapter 5, Sections 2 & 3
Carlo Ferrari & John Canny, "Planning Optimal Grasps"
Suarez et al., "Grasp Quality Measures"
Nguyen, "Constructing Force Closure Grasps"
MLS Chapter 5, Section 4
Springer Handbook of Robotics Chapter 28: Grasping
Antonio Bicchi, "On the Closure Properties of Robotic Grasping"
Prof. Goldberg's Handwritten Lecture Notes
|12||02/25/16||Robust Grasping||KG, FP||Orienting Polygonal Parts without Sensors, Algorithmica 1993|
|13||03/01/16||Cooperative Grasping I||SS|
|14||03/03/16||Cooperative Grasping II||RB|
|15||03/08/16||Cooperative Grasping III||RB|
|16||03/10/16||Tactile Perception & Hand Dynamics I||RB|
|17||03/15/16||Tactile Perception & Hand Dynamics II||RB|
|18||03/17/16||Coordinated Lifting of Rigid Objects I||RB|
|20||03/31/16||Non-holonomic Constraints I||SS|
|21||04/05/16||Non-holonomic Constraints II||SS|
|22||04/07/16||Active and Exploratory Perception I||RB|
|23||04/12/16||Active and Exploratory Perception II||RB|
|24||04/14/16||Selected Topics: Caging & Cloud Robotics I||KG, FP|
|25||04/19/16||Selected Topics: Caging & Cloud Robotics II||KG, FP|
|26||04/21/16||Selected Topics: Caging & Cloud Robotics III||KG, FP|
|27||04/26/16||Selected Topics: Assistive Robotics I||RM|
|28||04/28/16||Selected Topics: Assistive Robotics II||RM|
The syllabus page shows a table-oriented view of the course schedule, and the basics of course grading. You can add any other comments, notes, or thoughts you have about the course structure, course policies or anything else.
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