1. EE 106B/206B Robotic Manipulation and Interaction Ruzena Bajcsy Shankar Sastry Ken Goldberg F.Pokorny K.Driggs Campbell J.Mahler GSIs:

2. Preamble Most slides in this course have benefited from: notes from Zexiang Li and Yuanqing Wu, based on the textbook A Mathematical Introduction to Robotic Manipulation by R. Murray, Z. Li and S.S. Sastry (available online via bCourses). The current version of these slides is by S.Sastry R.Bajcsy, F.Pokorny and K.Goldberg

3. Course logistics The course will have weekly lectures every Tuesday and Thursday from 9:30am-11am. The lectures will be shared by professors: Bajcsy, Sastry, Goldberg and postdoctoral fellow: Dr.Pokorny The GSIs are: Katherine Driggs Campbell and Jeff Mahler In addition there will every two weeks during January, February and March homeworks.

4. Homework assignment with schedule Assignment NumberAssigned onDue Date HW 1Thurs 1/28Tues 2/02 HW 2Thurs 2/04Tues 2/16 HW 3Thurs 2/18Tues 3/03 HW 4Thurs 3/08Tues 3/15 HW 5Thurs 3/17Tues 3/29

5. Projects/Labs –There will 4 projects/labs. Each small lab /project will be end with a 2 page description and evaluation of the project. The final project of course should be a longer write-up. Instructions for the write-up and on how to get bonus points will be provided. Each project should be performed by groups of 2-3 people. It is recommended that each group have one of the person who has taken EE106A in Fall 2015, as they are familiar with the new robot platforms.

6. Project 1: Trajectory Tracking and Control using Zumy robots, (4 weeks) due 2/12Project 1: Trajectory Tracking and Control using Zumy robots, (4 weeks) due 2/12 Project 2: ROS Integration of 3 Fingered Hand with Tutorial Write-up (3 weeks)due 3/04 Project 3: Implement Grasping Operation with 2 Fingered Gripper (3 weeks) due 4/01 Project 4: Final Project * (6 weeks) due 5/13 *You get to choose your own final projects, but they must first be approved by the course staff. Proposals for the project will be due 3/11. At the end of the semester, there will be demonstrations of final projects on 5/9. Room TBD.

7. 20% for 5 homeworks –Each homework is posted on Thursday on bCourses and is due 2 weeks later Tuesday at 5pm*. 35 for 3 projects/labs –Each lab is completed with a partner and needs to be checked off by a GSI by the end of your section*. 35% for the final project Course grade *See course syllabus for details on lab and homework policy.

8. Prerequisites for this course Knowledge of linear algebra Programming in Python (for labs and homeworks) Curiosity about how things work Interest in experimental work Willingness to explore

9. Expectastions from Graduate students Project 1: Implement advanced control scheme than the PD controller Project 2: In addition to manual, develop some exploratory tactile procedures for testing the hardness or textures of different materials Project 3: Plan and Implement Grasping with Uncertainty Final Project: Content must have enough promise and innovation to be published in a robotics conference

10. Lectures Lecture 0: Organization of the course and introduction Lecture 1: Introduction, organization of the course (RB) * Lecture 2 Review of Robotic manipulation and Dynamics MLS Chapters 4.1-4.2(SS) Lecture 3.Continue Review of Robotic manipulation and Dynamics,MLS Chapter 4.3 (SS) Lectures 4 Position and difference Control (RB)

11. Lectures * Lecture 5:Trajectory Tracking MLS section 4.5 (RB) Lecture 6 and 7: Control of Constrained Manipulation MLS section 4.6(SS) Lecture 8: Introduction to Grasping, Contact Models MLS section 5.1 (Florian) Lecture 9:GRASP MAP, MLS section 5.2 (Florian) Lecture 10: Force Closure during GRASP,FerrariCanny, Lipschitz MLS section 5.3 (Florian)

12. Lectures Lecture 11: GRASP Planning, MLS section 5.4 (Ken) Lecture 12: Robust Grasping (Ken, Florian and Jeff) Lecture 13-15: Cooperative Grasping,MLS section 5.5-5.6 (SS) Lecture 16-17: Tactile Perception,Hand Dynamics MLS section 6.1-6.3 (RB) Lecture 18-19: Coordinated Lifting of rigid objects, MLS (6.4-6.5),(RB)

13. Lectures Lecture 20-21 Non Holonomic Constraints, Chapter 7 MLS (SS) Lecture 22-23: Active and exploratory perception (RB) Lecture 24-25 Selected topics:Assitive Robotics (Robert Mathew Lecture 26-28 selected topics :Caging, Cloud robotics (Ken, Florian,Jeff)

14. Special topics

15. Discussion and lab sections GSI Discussion Sections (299 Cory Hall) –Tuesday and Thursday 3:30-4:30 PM with GSIs Labs will be available to students any time, we will set up a calendar so that groups do not overlap.

16. Office Hours Prof. Bajcsy Office Hours –Tuesday and Thursday, 1-3PM 719 Sutardja Dai Hall –Professors Sastry and Goldberg by appointment GSI Office Hours (Kathrine Driggs Campbell ) –Monday, 9:30am-11pm,in Cory 212 Jeff Mahler Wend. 3-5PM in Soda 283E

17. Final Project guidelines Projects are expected to apply multiple aspects of what you have learned Every project should include some sensing, planning and manipulation. Demonstrate good designer/experimentalist rigor: –What did you measure, what are your assumptions, what did you compute from the measurements? –How did you evaluate your results (systematic errors, random errors)? Lessons learned. What should be the next steps? See course syllabus for details on project requirements.

18. Questions