ELEC-E8126 Robotic Manipulation
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: (Lynch and Park 2017) Chapter 3, 5-5.1.4.
Motion planning
Reading: (Lynch and Park 2017) Chapter 10.
Motion control
Reading: (Lynch and Park 2017) Chapter 11-11.3.2.
Dynamic movement primitives
Reading: (Saveriano et al. 2021) Section 1-2.
Control in contact
Reading: (Lynch and Park 2017) Chapter 11.5-11.6
Impedance control
Manipulation
Reading: (Lynch and Park 2017) Chapter 12-12.1.3.
Friction and grasping
Reading: (Lynch and Park 2017) Chapter 12.2-12.2.2.
Closed kinematic chains
Reading: (Lynch and Park 2017) Chapter 7-7.1.3.
Redundancy
Reading: (Chiaverini 2019) Chapter 10-10.2.2.
Learning/modeling of manipulation skills.
Reading: (Kroemer, Niekum, and Konidaris 2021) Section 1-3.
Coursework
To be done on Virtualbox with the Linux image provided.