1. JCT:6/11/20151 Robotics II Planning and Manipulation Jeff Trinkle MRC 330c TA: Blake Farman

2. Robotics I Topics Spatial description (Craig chapter 2) Manipulator kinematics (Craig chapter 3) Inverse manipulator kinematics (Craig chapter 4) Manipulator Jacobians (Craig chapter 5) Manipulator dynamics (Craig chapter 6) Linear control (Craig chapter 9) Nonlinear control (Craig chapter 10) Force control (Craig chapter 11) JCT:6/11/20152

3. Robotics II Topics Grasping – (Chapter 28 from Springer Handbook of Robotics, 2008) If necessary – Trajectory Planning (Craig chapter 7) Motion Planning (LaValle Chapters 1-6) –Piano mover’s problem –Moving a robot arm among obstacles Manipulation Planning –Multibody dynamics –Motion planning + physical constraints Device Design –Variation on manipulation planning Other current topics – probably from recent publications –Robot programming (Craig chapter 12 or papers) –tbd… JCT:6/11/20153

4. Trajectory Planning with Geometric and Physical Model Surface geometry Paint deposition physics JCT:6/11/20154

5. 5 Manipulation Planning State of the Art? Human vs Robot

6. Household Robotics Kuffner et al. Robotics: Science and Systems 2008 JCT:6/11/20156

7. Grasp Acquisition Parallel jaw gripper grasping a lock part 100,800 trials –Slow or fast –Clean or sandy Brost and Christiansen, 1995 Success Rate Success Failures

8. JCT:6/11/20158 More Manipulation Examples Ram’s planner Kaneko’s hands http://www.k2.t.u- tokyo.ac.jp/index- e.html Koditschek’s HRex

9. Parts-Feeder Design Design Goals: 1) All pegs exit closed end down 2) Maximize through-put?? Boothroyd (1960’s) Solved without simulation

10. Experimental Validation Experimental test bed developed in GRASP Lab with Song, Pang, and Kumar

11. Real Factory Automation: Bottle Making JCT:6/11/201511

12. Human Meso- Scale Assembly Fixture plate holding pawl with Jones and Kozlowsky (2004)

13. Automated Meso-Scale Assembly Insertion planned using: –LaValle’s Rapidly-Exploring Dense Trees (RDTs) –dVC for simulation http://www.robotics.cs.rpi.edu/dvc/http://www.robotics.cs.rpi.edu/dvc/ Execution open loop Closed-loop execution possible with detailed, pre- computed RDT with Cappelleri, et al. 2006

14. Solving the Peg-in-Hole Problem Estimate surface friction model Use RDT with Cappelleri, et al. 2006

15. Analytical Design of Vibratory Manipulation Manipulate small parts in parallel Control gross motion with “asymptotic velocity fields” Generated by periodic support surface trajectories that bias the net friction force Vose, Umbanhower, and Lynch, 2007

16. Computational Design of Vibratory Manipulation Vose received RSS 2008 best student paper award ($2,500)! Six speakers coupled to plate generate desired plate vibration with Berard, Nguyen, and Anderson

17. Practical Details TA is Blake Farman (farmab@rpi.edu) –Main responsibilities: dVC from RPI OOPSMP (Oops Motion Planner?!) from Rice –Office MRC 332 –Office hours: 8pm to 10pm Mondays and Thursdays Also by appointment Other possiblilities (W all day; T,F after 5pm) Trinkle (trinkj@rpi.edu) –Office MRC 330c –Office hours: 3pm to 4pm (or by appointment) Also by appointment JCT:6/11/201517

18. First Assignment Install dVC-3D –Before class on Friday (1/16), install Qt (http://www.qtsoftware.com/) –Blake will be available: Via email farmab@rpi.edu In office – but contact first to make sure Friday in class –Install dVC-3D –Linux or visual studio JCT:6/11/201518

19. JCT:6/11/201519 Dogs can Plan Complex Tasks Too Dynamics Intermittent contact Nonholonomic constraints Nonlinear control