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.