List All Pages
Due Monday, January 12
If you haven't already done so, you should review the lecture notes for this week, entitled "Introduction", "Mechanisms", and "Configuration space". You should also download...
Due Wednesday, January 28
1) Draw a rough floorplan of the room you are sitting in, complete with furniture and other obstacles. Draw a triangular robot. Assume the robot can translate and rotate,...
Due Wednesday, February 4
1) Here is a schematic of the arm used on space shuttles:
Write the forward kinematics that position the camera with respect to the shuttle frame, using homogeneous...
Due Wednesday, February 18.
Implement the "rapidly exploring random tree" (RRT) algorithm from the LaValle and Kuffner paper, as applied to a steered car. The car can go forwards or backwards, and...
Due February 25.
1) Here is the example object from the grasping lecture:
a) Using a ruler, measure the locations of the fingers, and write the numerical Jacobian matrix relating the motion of the...
We will need ways to describe mechanical systems so that we can reason about them, or write algorithms to control them. The word system is used in many ways in the robotics literature, but the...
Planar 2R arms
Planar translations of rigid bodies
Planar rigid bodies
Obstacles
Please change this page according to your needs
Under construction.
Rigid body statics: manipulator equilibrium
(1)
Duality of force and velocity
(2)
(3)
Equivalent forces
Notes in this section are based on chapter 5 of Mason's Mechanics of...
In this lecture we will look at the relationship between velocities at joints and velocities of points attached to the robot.
Trajectories
Assume the configuration space is parameterized by some...
Dynamic equations for point systems: forces, momenta
We'll start with a single particle moving along a trajectory in the plane. The position of the particle is . The velocity vector is .
At any...
Many problems in planning robot motion can be phrased in terms of finding a path from some starting configuration (or set of configurations) to some goal region in configuration space. Fortunately,...
There are many reasons to grasp an object. We may want to
Immobilize an object, so that some operation can be applied to it.
Grasp the object firmly so that it can be moved into some other...
How to edit pages?
Site members
Recent changes
List all pages
Page Tags
If you are allowed to edit pages in this Site, simply click on edit button at the bottom of the page. This will open an editor.
To create a link to a new page, use syntax: [[[new page name]]] or...
These projects are challenging; some so much so that I hesitate to list them for a ten-week class. Many of these projects, if done well, could form the basis for an interesting paper at an...
Robotics researchers are interested in the interaction of physical systems and computers. There are controlled mechanical systems, like microwaves, cars, or dishwashers, that we do not tend to...
Anyone taking the CS 54 class at Dartmouth college during the Winter 2009 term should join this site. Please contact Devin Balkcom for the password.
Forward Kinematics
Given a configuration of the robot, expressed as coordinates in the parameterized configuration space, we need to be able to compute the locations of points on the robot in the...
Movies
Kuka factory automation
– hide block
"Kuka" promotional video:
Keepon robot dancing
– hide block
The "Keepon" robot...
Joints and linkages
Joints constrain the motion between pairs of rigid bodies. For example, a revolute joint allows pure rotation of the bodies. A linear prismatic joint allows linear translation...
In the last lecture, we talked about graph-search algorithms: depth-first, breadth-first, iterative deepening, uniform-cost, greedy, and A*. Given a clean, discrete graph, these algorithms have...
Due February 19
1. Baraff says "Lagrange multipliers also allow us to handle nonholonomic constraints, such as
velocity-dependent constraints; reduced-coordinate approaches inherently lack this...
Due February 5 at the beginning of class.
1) What does the symbol stand for? Why do we care about such regions for the purpose of path planning?
2) Figure 3 shows a "naive" random tree. Describe...
1) List a few problems that serial arms display.
2) Force feedback can be used for position sensing. Minksy says "So the six-axis force measurement can serve as a tactile-position sensor over the...
A rigid body is a system of particles with the constraint that the distance between any pair of particles is fixed. No physical body is entirely rigid, but rigid-body models are good enough for...
/* "Bluejay" theme by Devin Balkcom, based on wikidot.com's "webbish2" theme. */
body{
background-color: #8a8a8a;
font-family: verdana,arial,helvetica,sans-serif;
font-size:...
The weekly schedule (except for the first and last partial weeks) will be:
Monday, 10 am
Lecture
Wednesday, 10 am
Lecture
Thursday, 12 pm
Reading discussion
Friday, 10 am
Project...
Course
Lectures
Introduction
Mechanisms
Configuration space
Rigid bodies
Kinematics
Differential kinematics
Graph search
Motion planning
Grasping
Dynamics
Contact...
Members:
Moderators
Admins
Course description
This course will help you gain the skills needed to understand and contribute to robotics research. The focus is on the motion and programming of robotics mechanisms. Topics will...
Syllabus
Ideas
Library
Private forum
According to Wikipedia, the world largest wiki site:
A Wiki ([ˈwiː.kiː] <wee-kee> or [ˈwɪ.kiː] <wick-ey>) is a type of website that allows users to add, remove, or otherwise edit...
