Manipulation by humans and robots CENG782 - Planning of Robotic Manipulation Instructor: Erol Sahin

What is manipulation? Manipulation is the process of using one’s hands to rearrange one’s environment. [M.T. Mason] A skill that humans and animals are extremely good, robots are extremely bad at.

Human Manipulation at its best.. https://www.youtube.com/watch?v=STYKzXMkqbE

Cup Stacking by six-year old https://www.youtube.com/watch?v=qSJCMZtEf6E

Darpa Robotics Challenge A competition to develop the hardware, software, sensors, and human-machine control interfaces that will enable their robots to complete a series of challenge tasks for disaster response. Took place at June 5-6, 2015 at Fairplex in Pomona, California. http://www.theroboticschallenge.org/ https://www.youtube.com/embed/mpsXQCHrAlM?width=640&height=480&autoplay=1&showinfo=1&controls=1&autohide=0&iv_load_policy=0&iframe=1&rel=0&modestbranding=1&theme=light&color=white&wmode=opaque

The DRC Finals 2015 Robot Tasks https://www.youtube.com/embed/1AGeY2YB_8k?width=640&height=480&autoplay=1&showinfo=1&controls=1&autohide=0&iv_load_policy=0&iframe=1&rel=0&modestbranding=1&theme=light&color=white&wmode=opaque

And the winner is.. Hubo from KAIST https://www.youtube.com/watch?v=PomkJ4l9CMU

A notable second.. https://www.youtube.com/watch?v=PAHVxqf83Jk

DRC Failures https://www.youtube.com/watch?v=NeFkrwagYfc

Robotic manipulation - goal Automate manipulation Machines that can manipulate like human/animals

Robotic Manipulation cutting-edge research has started to shift towards the development of planning algorithms built upon the kinematic and dynamic models of the manipulator and its interaction with the environment. You need to know not only about the kinematic, dynamic and control of robotic systems but also the algorithms as well as their computational complexities.

Robotic Manipulation - this course We will cover the manipulation of rigid bodies with rigid manipulators. Review Rigid Body Dynamics and Manipulator Kinematics. Mechanics of Manipulation contact models, friction and statics static and quasi-static models of interaction between the manipulator and the environment. force- and form-closure in grasps measures on grasp stability and quality. Planning configuration space approach and planning algorithms for robotic manipulation.

Content overview - 1 Rigid body motion Manipulator Kinematics - 1 Spatial displacements Spatial rotations (Euler angles, rotation matrices and quaternions) Screws and wrenches Manipulator Kinematics - 1 Forward Kinematics Manipulator Kinematics - 2 Inverse Kinematics Manipulator Kinematics - 3 Manipulator Jacobian Force relationships

Content overview - 2 Rigid Body Statics Friction Grasping 1 Grasping 2 Models of contact Contact wrenches and wrench cones Friction Coulomb’s law Friction cones Planar single contact problems Grasping 1 Force- and form closure Grasp synthesis and map Grasping 2 Grasp stability and quality Grasp planning

Content overview - 3 Planning - 1 Planning - 2 Planning - 3 Configuration space Planning in configuration space Planning - 2 Probabilistic roadmaps Rapidly-Exploring Random Trees Planning - 3 Single-query and multi-query planning Anytime planning Planning with costs and constraints Recent advances in manipulation: Student presentations

Background requirements Open to all engineering students Will need to cover Calculus Linear algebra Programming - MATLAB

Textbook P. Corke. Robotics, vision and control: fundamental algorithms in MATLAB. Vol. 73. Springer S, 2011. http://www.petercorke.com/RVC/ M.T. Mason, Mechanics of Robotic Manipulation, MIT Press, 2001. http://cognet.mit.edu/book/mechanics-of-robotic-manipulation R.R. Murray, Li, Z., Sastry, S. S., A mathematical introduction to robotic manipulation. CRC press. Chicago, 1994. http://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-complete.pdf S.M. LaValle, Planning algorithms. Cambridge university press, 2006. http://planning.cs.uiuc.edu/booka4.pdf

Course Components Lectures Homeworks (3) Presentations (2) Theoretical and high-level course content Homeworks (3) Programming and/or derivation of certain problems Presentations (2) of a paper reporting the state-of-the-art in robotic manipulation Exam (final) Test your understanding of concepts & mathematical principles

Getting Help Mailing list: Email communication: Office hour: Announcements Email communication: Make sure that the subject line starts with CENG782 [capital letters, and no spaces] to get faster reply. Office hour: Erol Sahin: By appointment

Background Linear Algebra MATLAB Crash course https://www.khanacademy.org/math/linear-algebra/vectors_and_spaces MATLAB Robotics Toolbox from Peter Corke http://petercorke.com/wordpress/

Welcome and Enjoy!