Robotic Manipulation: Analysis and Algorithms CSCI-4963/6965 Jeff Trinkle Lally 209b 276-8291 (Jacky Carley) JCT:9/21/2018

Course organization Lectures MR 2:00 – 3:50. Ten-minute break. Textbook: Mechanics of Robotic Manipulation, MIT Press 2001. Grading. 40% Assignments. About four. 40% Term Project Proposal Report Expect to spend 20-40 hours Project will be shared with classmates – ideas may appear on final 20% Final exam. Lab: Rooms: MRC 331, 332, 345, 352 Garcia and (maybe) Barrett Arm available JCT:9/21/2018

Course content – How does manipulation work? Taxonomy of Models Kinematic manipulation Kinematics: study of motion without regard for forces Application to manipulation: motion planning, models of contact Quasistatic manipulation Rigid body statics: sum of forces = 0 Friction. Application to manipulation: grasping, fixturing, pushing Dynamic manipulation Rigid body dynamics: sum of forces = mass * acceleration Impact: impulse = change in momentum Application to manipulation: tossing, parts orienting, juggling JCT:9/21/2018

To build model-based autonomous robots Why? Scientific curiosity We want to know how manipulation works To continue advancing technology How do we retain the experiential knowledge in a shrinking skilled labor force? How do we build micro-machines? To build robots Use engineer’s knowledge of how manipulation works Is it even possible to NOT have such a model? To build model-based autonomous robots Use robot’s knowledge of how manipulation works Is it even possible to NOT …? Perhaps an implicit model? JCT:9/21/2018

Why build model-based robots? Maybe you should not For many tasks, you can build a robot based on your own knowledge of mechanics of manipulation. Don’t underestimate ad hoc engineering based on human intuition and experience Sometimes engineers should So the robot can try things out in its head rather than the real world Sometimes scientists should As a properly skeptical scientist, how do you show that some phenomenon is crucial to a given task? That you have properly modeled that phenomenon? JCT:9/21/2018

What is manipulation? The State of the Art Human vs Robot JCT:9/21/2018

Go to Matt’s Lecture 1 Page 15-19 Typical automation in a structured environment Go to Matt’s Lecture 1 Page 15-19 JCT:9/21/2018

What is manipulation? The State of the Art Ram’s planner Kaneko’s hands http://www.k2.t.u-tokyo.ac.jp/index-e.html Koditschek’s HRex JCT:9/21/2018

Pawl in Fixture JCT:9/21/2018

Dependence on Friction Frictionless finger Fixel friction coefficients: 0.01, 0.2, 0.4, 0.6 Light blue band – push to contact all three fixels regardless of contact state. Gray band is for no contacts. Pusher friction varies in [0, 0.5). Friction on fixels is 0.2. JCT:9/21/2018

Orienting Parts Feeder Planning of dexterous manipulation activities is very difficult, because one needs predictive models before one can plan. For example, if the fingers moves to the left, will the heptgon roll to the left or translate? Answering these questions requires the solution of highly complex mathematical models. Our research has been in the development of rigorous solution techniques and their use in planning algorithms. Ultimately one will be able to endow robots with physical dexterity comparable to that of human, so that we can accomplish complex tasks (like building a lunar habitat for humans) in hazardous environments. Part enters cg down Part enters cg up JCT:9/21/2018

Meso-scale peg-in-hole task Go to Movies in C:\trink\Movies\DexManPlan\meso_scale_peg_in_hole Planning of dexterous manipulation activities is very difficult, because one needs predictive models before one can plan. For example, if the fingers moves to the left, will the heptgon roll to the left or translate? Answering these questions requires the solution of highly complex mathematical models. Our research has been in the development of rigorous solution techniques and their use in planning algorithms. Ultimately one will be able to endow robots with physical dexterity comparable to that of human, so that we can accomplish complex tasks (like building a lunar habitat for humans) in hazardous environments. Part enters cg up JCT:9/21/2018

Go to Matt’s Lecture 1 Page 20-27 What is manipulation? Compare and contrast Go to Matt’s Lecture 1 Page 20-27 JCT:9/21/2018

And a Dog Shows Us Up JCT:9/21/2018