1. Manipulation by humans and robots
CENG Planning of Robotic Manipulation
Instructor:
Erol Sahin

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. Human Manipulation at its best..

4. Cup Stacking by six-year old

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.

6. The DRC Finals 2015 Robot Tasks

7. And the winner is.. Hubo from KAIST

8. A notable second..

9. DRC Failures

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

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. 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. 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

14. 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

15. 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

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

17. Textbook
P. Corke. Robotics, vision and control: fundamental algorithms in MATLAB. Vol. 73. Springer S, 2011.
M.T. Mason, Mechanics of Robotic Manipulation, MIT Press, 2001.
R.R. Murray, Li, Z., Sastry, S. S., A mathematical introduction to robotic manipulation. CRC press. Chicago, 1994.
S.M. LaValle, Planning algorithms. Cambridge university press, 2006.

18. 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

19. Getting Help Mailing list: Email communication: Office hour:
Announcements
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

20. Background Linear Algebra MATLAB Crash course
MATLAB
Robotics Toolbox from Peter Corke

21. Welcome and Enjoy!