1. 1 Manipulation by humans and robots CENG782 - Planning of Robotic Manipulation Instructor: Erol Sahin Adapted from slides from..

2. 2 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.

3. 3 Human Manipulation at its best.. https://www.youtube.com/watch?v=STYKzXMkqbE

4. 4 Cup Stacking by six-year old https://www.youtube.com/watch?v=qSJCMZtEf6E

5. 5 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

6. 6 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

7. 7 And the winner is.. Hubo from KAIST https://www.youtube.com/watch?v=PomkJ4l9CMU

8. 8 A notable second.. https://www.youtube.com/watch?v=PAHVxqf83Jk

9. 9 DRC Failures https://www.youtube.com/watch?v=NeFkrwagYfc

10. 10 Robotic manipulation - goal Automate manipulation Machines that can manipulate like human/animals

11. 11 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.

12. 12 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.

13. 13 Background requirements Open to all engineering students Will need to cover  Calculus  Linear algebra  Programming - MATLAB

14. 14 Textbook P. Corke. Robotics, vision and control: fundamental algorithms in MATLAB. Vol. 73. Springer S, 2011.  http://www.petercorke.com/RVC/ http://www.petercorke.com/RVC/ M.T. Mason, Mechanics of Robotic Manipulation, MIT Press, 2001.  http://cognet.mit.edu/book/mechanics- of-robotic-manipulation 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/b ooks/MLS/pdf/mls94-complete.pdf http://www.cds.caltech.edu/~murray/b ooks/MLS/pdf/mls94-complete.pdf S.M. LaValle, Planning algorithms. Cambridge university press, 2006.  http://planning.cs.uiuc.edu/booka4.pdf http://planning.cs.uiuc.edu/booka4.pdf

15. 15 Course Components Lectures  Theoretical and high-level course content Homeworks (2)  Programming and/or derivation of certain problems Presentation  of one paper reporting the state-of-the-art in robotic manipulation Project  Semester-long project that implements certain methos/algorithms about robotic manipulation Exam (final)  Test your understanding of concepts & mathematical principles

16. 16 Getting Help Mailing list:  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

17. 17 Background Linear Algebra  Crash course  https://www.khanacademy.org/math/linear- algebra/vectors_and_spaces https://www.khanacademy.org/math/linear- algebra/vectors_and_spaces MATLAB  RVC Tool kit from Peter Corke

18. 18 Content overview - 1 Rigid body motion  Spatial displacements  Spatial rotations (Euler angles, rotation matrices and quaternions)  Screws and wrenches Manipulator Kinematics - 1  Forward Kinematics  Inverse Kinematics Manipulator Kinematics - 2  Manipulator Jacobian  Force relationships Rigid Body Statics  Models of contact  Contact wrenches and wrench cones  Line of force; moment labeling

19. 19 Content overview - 2 Friction  Coulomb’s law  Planar single contact problems  Friction cones  Planar sliding Quasi-static manipulation  Pushing  Stable pushing Grasping 1  Force- and form closure  Grasp synthesis and map Grasping 2  Grasp stability and quality  Grasp planning

20. 20 Welcome and Enjoy!