Robot Manipulation: MECH 601

Robert Platt
Rice University
Fall 2009

Course Description

This one-credit seminar explores important topics in robot manipulation and grasping. Students read, present, and discuss research papers coving the relevant topics. The instructor will give background lectures where appropriate. The main topics to be covered are: manipulator force and impedance control, grasp mechanics and planning, tactile and visual perception during manipulation, and high-level control of manipulation. Students will be responsible for: reading papers, writing one-paragraph paper summaries, periodically presenting to the class, and periodically solving analysis problems assigned by the instructor.

Course Information:

Timeslot: Tuesday 9:25 - 10:40
Room: ME 241
Instructor: Robert Platt
email: robert [dot] platt-1 [at] nasa [dot] gov
Office: TBA
Office Hours: By appointment (Friday mornings or before class)

Course Policies:

If you have a documented disability that will impact your work in this class, please contact me to discuss your needs. Additionally, you will need to register with the Disability Support Services Office in the Ley Student Center.

Syllabus

Constantly changing...

MANIPULATION UNDER UNCERTAINTY

Date	Paper(s)
8/25/2009	Introduction
9/1/2009	Whitney, D., Real robots don't need jigs
	Herman, K., Bruyninckx, H., Markov Techniques for Object Localization With Force-Controlled Robots
9/8/2009	Thrun, S., Fox, D., Burgard, W., Dellaert, F., Robust Monte Carlo Localization for Mobile Robots (Only Sections 1 - 3)
9/15/2009	Petrovskaya, A., Khatib, O., Thrun, S., Ng, A.Bayesian Estimation for Autonomous Object Manipulation Based on Tactile Sensors
9/22/2009	Flanagan, J. R., Bowman, M. Johansson, R., Control strategies in object manipulation tasks
9/29/2009	Chhatpar, S., Branicky, M.Localization for Robotic Assemblies with Position Uncertainty
10/6/2009	Hsiao, K., Lozano-Perez, T., Kaelbling, L. P.Robust Belief-Based Execution of Manipulation Programs
	Walker, S., Salisbury, J .K., Pushing using learned manipulation maps

GRASP MECHANICS, PLANNING AND CONTROL

10/20/2009	Bicchi, A., Salisbury, J. K., Brock, D.Contact Sensing from Force Measurements
	Teichmann, M. and Mishra, B.Reactive Robotics I: Reactive Grasping with a Modified Gripper and Multi-fingered Hands
10/27/2009	Nguyen, V.Constructing force-closure grasps
	Hogan, N.Stable execution of contact tasks using impedance control
11/3/2009	Khatib, O.A unified approach for motion and force control of robot manipulators: The operational space formulation
	Peters, J., Mistry, M., Udwadia, F., Cory, R., Nakanishi, J., Schaa, S.A unifying methodology for the control of robotic systems
11/10/2009	Nakanishi, J., Cory, R., Mistry, M., Peters, J. Schaal, S.Operational Space Control: A Theoretical and Empirical Comparison
	Chiaverini, S., Siciliano, B., Villani, L.A survey of robot interaction control schemes with experimental comparison
11/17/2009	Jean-Jacques E. SlotineThe Robust Control of Robot Manipulators, The International Journal of Robotics Research 1985; 4; 49
11/24/2009	no class - rescheduled for 12/3/09.
12/1/2009	???.
12/3/2009	???.

NOT ASSIGNED

Date	Paper(s)
???	Li, Z., Sastry, S.Task oriented optimal grasping by multifingered robot hands
???	Ferrari, C., Canny, J.Planning optimal grasps
???	Cutkosky, M. R., Kao, I.Computing and controlling compliance of a robotic hand
???	Rimon, E., Burdick, J.Mobility of Bodies in Contact - I: A New 2nd Order Mobility Index for Multiple-Finger Grasps
???	Nakamura, Y., Hanafusa, H. Yoshikawa, T.Task Priority Based Redundancy Control of Robot Manipulators
???	Nakanishi, J., Cory, R., Mistry, M., Peters, J. Schaal, S.Operational Space Control: A Theoretical and Empirical Comparison