Robotic Manipulation (Aalto University ELEC-E8126 2022)

Introduction

9 quizzes (25%), 6 problem sheets (75%). Textbook is Modern Robotics: Mechanics, Planning, and Control by Lynch & Park (L&P). Time is split into exercise sessions (22h), readings & quizzes (28h), problem sheets (56h), lectures (rest).

Content

Introduction

Coordinate frames and transforms between them, exponential coordinates, twists, forward kinematics, velocity kinematics, manipulability and force ellipsoids and their relation to PCA. Reading: (, , Chapter 3, 5-5.1.4)

Motion planning

Reading: (, , Chapter 10)

Motion control

Reading: (, , Chapter 11-11.3.2)

Dynamic movement primitives

Reading: (, a, Section 1-2)

Control in contact

Reading: (, , Chapter 11.5-11.6)

Impedance control

Manipulation

Reading: (, , Chapter 12-12.1.3)

Friction and grasping

Reading: (, , Chapter 12.2-12.2.2)

Closed kinematic chains

Reading: (, , Chapter 7-7.1.3)

Redundancy

Reading: (, a, Chapter 10-10.2.2)

Learning/modeling of manipulation skills.

Reading: (, a, Section 1-3)

Assignments

To be done on Virtualbox with the Linux image provided.

Emacs 29.4 (Org mode 9.6.15)