1. Motion and Manipulation
2011/2012
Frank van der Stappen
Game and Media Technology

2. Context
Robotics
Games (VEs)
Geometry

3. Contents Introduction Geometric Modelling Motion Kinematics
Configuration Space
Path Planning Algorithms
Collision Detection
Extensions to Basic Planning

4. Contents Manipulation Kinematics for Linkages Inverse Kinematics
Projective Geometry
Grasping
Non-prehensile Manipulation

5. Basic Motion Planning
Given a workspace W, a robot A of fixed and known shape moving freely in W, a collection of obstacles B of fixed and known shape and location, W A B

6. Basic Motion Planning and an initial and a final placement for A,
find a path for A connecting these two placements along which it avoids collision with the obstacles from B [80s]
Solution takes place in high-dimensional configuration space C

7. Motion Planning with Constraints
Non-holonomic systems: differential constraints [early 90s]

8. Motion in Complex Environments
Applications for logistics: assembly, maintenance [late 90s]

9. Motion Planning with Many DOF
Applications in virtual environments [early 00s]

10. Motion in Games
Natural paths for characters and cameras

11. Motion in Games
Simulation of individuals in crowds and small groups [Guest lecture by Roland Geraerts on September 21]

12. Motion in Games Animation Motion of virtual characters
Facial animation
[Course by Arjan Egges in 2nd period]

13. Motions User in a virtual environment: Collision detection
Autonomous entity: Path planning

14. Manipulation: Arms
Kinematic constraints

15. Linkages

16. Linkages
VR Hardware

17. Holding and Grasping

18. Conventional Manipulation
Anthropomorphic robot arms/hands + advanced sensory systems =
expensive
not always reliable
complex control

19. RISC
‘Simplicity in the factory’ [Whitney 86] instead of ‘ungodly complex robot hands’ [Tanzer & Simon 90]
Reduced Intricacy in Sensing and Control [Canny & Goldberg 94] =
simple ‘planable’ physical actions, by
simple, reliable hardware components
simple or even no sensors

20. Manipulation Tasks Fixturing, grasping Feeding
push, squeeze, topple, pull, tap, roll, vibrate, wobble, drop, …
Parts Feeder

21. Parallel-Jaw Grippers
Every 2D part can be oriented by a sequence of push or squeeze actions.
Shortest sequence is efficiently computable [Goldberg 93].

22. Feeding with ‘Fences’
Every 2D part can be oriented by fences over conveyor belt.
Shortest fence design efficiently computable [Berretty, Goldberg, Overmars, vdS 98].

23. Feeding by Toppling
Shortest sequence of pins and their heights efficiently computable [Zhang, Goldberg, Smith, Berretty, Overmars 01].

24. Vibratory Bowl Feeders
Shapes of filtering traps efficiently computable [Berretty, Goldberg, Overmars, vdS 01].

25. Course Material
Steven M. LaValle, Planning Algorithms, 2006, Chapters 3-7. Hardcopy approximately € Free!
Robert J. Schilling, Fundamentals of Robotics: Analysis and Control, 1990, Chapters 1 and 2 (partly) Copies available.
Matthew T. Mason, Mechanics of Robotic Manipulation, Price approximately € 50.

26. Teacher Frank van der Stappen http://people.cs.uu.nl/frankst/
Office: Buys Ballotlaboratorium phone: ;
Program leader for Game and Media Technology; MSc projects on grasping, manipulation, and path planning

27. Classes Wednesday 15:15-17:00 in BBL-079 MIN-208.
Friday 11:00-12:45 usually in AARD-KLEIN, but
in DDW-1.22 on September 23 and
in RUPPERT-C MIN-208 on October 14.
Written test:
first chance: Friday November 11, 13:30-15:30
second chance: Friday January 6, 13:30-15:30
Dates are tentative, check website regularly!

28. Exam Form
Written exam about the theory of motion and manipulation; weight 60%.
Summary report (> 15 pages of text) in pairs on assigned collection of papers; weight 40% Deadline: Wednesday November 2, 17:00.
Additional requirments:
Need to score at least 5.0 for written exam to pass course.
Need to score at least 4.0 to be admitted to second chance