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Dartmouth CS 54

Introduction to Robotics

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Course

  • Lectures
    • Introduction
    • Mechanisms
    • Configuration space
    • Rigid bodies
    • Kinematics
    • Differential kinematics
    • Graph search
    • Motion planning
    • Grasping
    • Dynamics
    • Contact mechanics
  • Assignments
    • No. 1, due Jan 12
    • No. 2, due Jan 28
    • No. 3, due Feb 4
    • No. 4, due Feb 18
    • No. 5, due Feb 25
  • Reading Questions
    • Minsky
    • LaValle and Kuffner
    • Baraff
  • Grades on Blackboard

Links

  • Dartmouth CS
  • Robotics lab

Wiki

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Library

Movies

Kuka factory automation
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"Kuka" promotional video:

Keepon robot dancing
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The "Keepon" robot dancing:

The Big Dog robot
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Big Dog:

The Big Dog (beta version)
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Big Dog:

Theo Jansen: The art of creating creatures - submitted by govind
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Theo Jansen's beach creatures:

Johnny Lee: Wii Remote hacks - submitted by govind
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Johnny Lee: Wii Remote hacks:

Research papers

Web resources

Dynamic simulation

  • Variational Integrators -- West
  • Variational Integrators -- Murphey

Kinematics

  • On-line museum of kinematic mechanisms

Software

Miscellaneous

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