CS 791Z Syllabus

	1	Mon Feb 02	Introduction Current capabilities of humanoid platforms and mobile manipulators Collecting presentation subjects Assigning presentations
	2	Mon Feb 09 Brendan Yuandong	Motion Generation Motion planning in high-dimensional configuration spaces is computationally very expensive. What are suitable approaches to generate motion for humanoid robots and mobile manipulators operating in dynamic environments? Real-time Obstacle Avoidance for Manipulators and Mobile Robots Oussama Khatib. The International Journal of Robotics Research. Vol 5, No. 1, Spring 1986. Decomposition-based Motion Planning: A Framework for Real-time Motion Planning in High-dimensional Configuration Spaces Oliver Brock and Lydia Kavraki. Proceedings of IEEE International Conference on Robotics and Automation (ICRA), pages 1469-1474, Seoul, Korea, 2001. The Virtual Springs Method: Path PLanning and Collision Avoidance for Redundant Manipulators. McLean and Cameron. International Journal of Robotics Research Vol 15, No. 4, August 1996, p. 300-319. A General Manipulation Task Planner Thierry Simeon, Juan Cortes, Anis Sahbani, and Jean-Paul Laumond. Proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR), Nice, France, 2002. Motion Planning for Humanoid Robots James Kuffner, Koichi Nishiwaki, Satoshi Kagami, Masayuki Inaba, and Hirochika Inoue. Proceedings of the International Symposium of Robotics Research, 2003. Dynamically-stable Motion Planning for Humaonid Robots James Kuffner, Satoshi Kagami, Koichi Nishiwaki, Masayuki Inaba, and Hirochika Inoue. Autonomous Robots 12(1): 105-118, 2002. Toward Real-Time Path Planning in Changing Environments Peter Leven and Seth Hutchinson. Proceedings of the Workshop on Algorithmic Foundations of Robotics (WAFR), 2000.
	*	Mon Feb 16	Presidents' Day (moved to Feb 18)
	3	Wed Feb 18 John Patrick	Operational Space Control / Control The idea of operational space control is to specify motion at the end-effector, rather than in terms of joint motion. Operational space control takes advantage of the Nullspace of Jacobians and thus is related to ideas around the control basis approach. A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation Oussama Khatib, IEEE Journal of Robotics and Automation, Vol RA-3, No1, February 1987. Gauss' Principle and the Dynamics of Redundant and Constrained Manipulators Hermann Bruyninckx and Oussama Khatib. Proceedings of IEEE International Conference on Robotics and Automation. San Francisco, April 2000. Exerpts from a book draft on Advanced Robotics by Oussama Khatib Whole Body Dynamic Behavior and Control of Human-Like Robots O. Khatib, L. Sentis, J. Park, J. Warren. To appear in the International Journal of Humanoid Robotics. Sequential Composition of Dynamically Dexterous Robot Behaviors R. Burridge, A. Rizzi, D. Koditschek. International Journal of Robotics Research 18(6):534-555, 1999. Composition of Local Potenital Functions for Global Robot Control and Navigation Connor, Rizzi, Choset. Proceedings of the 2003 IROS Las Vegas, NV, October 2003.
	4	Mon Feb 23 John TJ	Coordination of Mobility and Manipulation The combination of mobility and manipulation capabilities usually results in redundant systems. The redundancy can be explited to coordinate mobility and manipulation intelligently. Elastic Strips: A Framework for Motion Generation in Human Environments Oliver Brock and Oussama Khatib. International Journal of Robotics Research 21(12):1031-1052, 2002. Coordinated Trajectory Following for Mobile Manipulation Mangus Egerstedt and X. Hu. Proceedings of IEEE International Conference on Robotics and Automation (ICRA), San Francisco, CA, 2000. Reactive Mobile Manipulation Using Dynamic Trajectory Tracking P. Ögren, M. Egerstedt, and X. Hu. Proceedings of IEEE International Conference on Robotics and Automation (ICRA), San Francisco, CA, 2000. Manipulability Analysis for Mobile Manipulators Bernard Bayle, Jean-Yves Fourquet, and Marc Renaud. Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2001. A Coordination Strategy for Mobile Manipulation Bernard Bayle, Jean-Yves Fourquet, and Marc Renaud. Mobile Manipulation on Humaonids, Real-time Control based on Manipulability and Stability Inoue, Yoshida, Arai, Mae. Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2000. Integrated Task Planning and Control for Mobile Manipulators. Tan, Xi, Wang. International Journal of Robotics Research 2003. Inverse Kinematics Solution to Mobile Manipulators Mirosaw Galicki. International Journal of Robotics Research 22(12):1041-. Postural Force Fields of the Human Arm and Their Role in Generating Multi-Joint Movements Shadmehr, Mussa-Ivaldi, Bizzi Journal of Neuroscience, March, 1992.
	5	Mon Mar 01 Bryan Patrick	Bipedal Walking Much of the engineering effort in today's humanoid platform is concerned with bipedal motion. Legged locomotion is considered to be more flexible than motion based on wheels. On the Stability of Biped Locomotion M. Vukobratovic, A. A. Frank and D. Juriuic. IEEE Transactions on Biomedical Engineering 17(1):25-36, 1970. Towards Bipedal Running of a Six Legged Robot. N. Neville, M. Buehler. 12th Yale Workshop on Adaptive and Learning Systems, May 2003. Some results in passivedynamic walking. M. Garcia, A. Ruina, M. Coleman, and A. Chatterjee. In Biology and Technology of Walking, pages 268-275. Euromech Colloquium 375, March 23-25 1998. AutoBalancer: An Online Dynamic Balance Compensation Scheme for Humanoid Robots S. Kagami, F. Kanehiro, Y. Tamiya, M. Inaba, H. Inoue. Proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR), Nice, France, 2002.
	6	Mon Mar 08 Rob	Grasping / Contact Grasping and motion in contact are essential for any robotic system that interacts with a dynamic and insufficiently modelled environment. Task compatibility of manipulator postures S. Chiu. International Journal of Robotics Research 7(5): 13-21, 1988. On the Existence and Synthesis of Multifinger Positive Grips B. Mishra, J.T. Schwartz, M. Sharir. Algorithmica, 1987. On Random Sampling in Contact Configuration Space X. Ji and J. Xiao. Proceedings of the Workshop on Algorithmic Foundations of Robotics (WAFR), 2000. A General Contact Model for Dynamically-Decoupled Force/Motion Control Roy Featherstone, Stef Sonck Thiebaut and Oussama Khatib. Proceedings of IEEE International Conference on Robotics and Automation. Detroit, Michigan, 1999. A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation Oussama Khatib, IEEE Journal of Robotics and Automation, Vol RA-3, No1, February 1987
	*	Mon Mar 15	Spring Break
	7	Mon Mar 22 Bryan Kim	Multi-Robot Cooperation Ultimately, robots and humans as well as robots among themselves should be able to cooperate and work in team on a single task. Such cooperation requires adequate control methods. Force Strategies for Cooperative Tasks in Multiple Mobile Manipulation Systems Khatib, O., K. Yokoi, K. Chang, D. Ruspini, R. Holmberg, A. Casal, A. Baader, Int. Symp.of Robotics Research, Munich, October 1995. The Virtual Linkage: A Model for Internal Forces in Multi-Grasp Manipulation David Williams and Oussama Khatib, International Conference on Robotics and Automation, Atlanta, October 1993.
	8	Mon Mar 29 Brendan Steve	Learning in Humanoid Systems To address the complexities that arise during task execution in everyday environments, robots will have to be able to improve their performance based on experience. Statistical learning for humanoid robots Vijayakumar, S.; D'Souza, A.;Shibata, T.;Conradt, J.; Schaal, S. (2002). Autonomous Robots, 12, 1, pp.59-72. Reinforcement learning for humanoid robotics Peters, J.;Vijayakumar, S.;Schaal, S. Humanoids2003, Third IEEE-RAS International Conference on Humanoid Robots, 2003. Robot Juggling: An Implementation of Memory-Based Learning Stefan Schaal and Christopher Atkeson. Control Systems Magazine, 14:1, P.57-71, 1994.
	9	Mon Apr 05 Emily Rob	Discrete Event Dynamic Systems A Hybrid Discrete Event Dynamic Systems Approach to Robot Control Huber M, Grupen RA. Mass Computer Science technical report #96-43, October 1996. A Subject-Indexed Bibliography of Discrete Event Dynamic Systems M. Sobh and J. C. Owen and K. P. Valvanis and D. Gracani. IEEE Robotics and Automation Magazine 1(2):14-20, 1994. The Control of Discrete Event Systems Peter J.G. Ramadge and W. Murray Wonahm. Proceedings of the IEEE 77(1):81-97, 1989.
	10	Mon Apr 12 Steve Will	Vision for Grasping or Interfaces Grasping and Tracking Using Constant Curvature Dynamic Contours D.P. Perrin, E. Kadioglu, S.A. Stoeter and N. Papanikolopoulos. International Journal of Robotics Resarch 22(10/11):885-872, 2003. Special Issue on Visual Servoing. International Journal of Robotics Resarch 22(10/11). The Dynamic Representation of Scenes Ronald Rensink. Visual Cognition, 7:17-42, 2000. Seeing, Sensing, and Scrutinzing Ronald Rensink. Vision Research, 40:1469-1487, 2000. Change Detection Ronald Rensink. Annu. Rev. Psychol., 53:245-277, 2002. Probabilistic Models of Appearance for 3D Object Recognition Pope, Lowe. Computer Vision, 2000
	*	Mon Apr 19	Patriot's Day (moved to Apr 22)
	11	Thu Apr 22	Canceled
	12	Mon Apr 26 Kim Chao	Human Robot Interfaces / Applications / Misc Transforming Plans into Actions by Tuning Passive Behavior: A Field-Approximation Approach Mussa-Ivaldi, Bizzi, Giszter Proceedings of ISIC, Arlington VA, August, 1991. Performance Evaluation of Sensorimotor Primitives Using Eigenvector Learning Method Sutton, Larson, Voyles IROS 2001, Maui, HA 2001. Critical Considerations for Human-Robot Interface Development Julie A. Adams, 2002 AAAI Fall Symposium, November 2002. Operator Intentions Funneled Through A Human-Robot Interface M.T. Rosenstein, A.H. Fagg, S. Ou, and R.T. Grupen A Literature Review on Augmented User Ability through Human-Robot Interfaces Shichao Ou Critical Considerations for Human-Robot Interface Julie A. Adams Human-robot interface based on the mutual assistance between speech and vision M. Yoshizaki, Y. Kuno, and A. Nakamura
	13	Mon May 03 Will Yuandong	Efficient Dynamic Simulation Since mobile manipulation platforms and humanoid systems are very commplex, expensive, and potentially fragile machines, simulation becomes an increasingly important means of performing experimental validation for research. Operational Space Dynamics: Efficient Algorithms for modeling and Control of Branching Mechanisms Kyong-Sok Chang and Oussama Khatib. Proceedings of the 2000 IEEE International Conference on Robotics and Automation. San Francisco, April 2000. Robot Dynamics Algorithms Book by Roy Featherstone. A Framework for Multi-Contact Multi-Body Dynamic Simulation and Haptic Display. Diego Ruspini, Oussama Khatib. Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems.
	14	Mon May 10 TJ Chao	Task Descriptions Chad Jenkins' dissertation Two more papers by CHad Jenkins: pdf1, pdf2 AAAI 2004 best paper by Liao, Fox, Kautz AAAI 2000 paper by Oates, Schmill, Cohen HMM in haptics by Hundtofte, Hager, Okamura