Lectures will be places of discussion where the current topic is summarized by the lecturer and discussed among all present. The students are expected to prepare by reading given material in advance prior to each lecture.
Course lectures will be given during third and fourth period. For lecture times and locations, please check Oodi.
Readings / Videos
For each lecture starting from the second one, there will be reading materials that the students should study before attending the lecture.Introduction, Jan 7, no readings
Motion planning, Jan 14, Lynch & Park ch. 5-5.1.4
Perception for manipulation, Jan 21, Lynch & Park ch. 10
Motion control, Jan 28, Lynch & Park ch. 11-11.3.2
Control in contact, Feb 4, Lynch & Park ch 11.5-11.6Manipulation, Feb 11, Lynch & Park ch 12-12.1.3Friction and grasping, Feb 18, Lynch & Park, Chapter 12.2-12.2.2Closed kinematic chains, Feb 25, Lynch & Park, Chapter 7-7.1.3
Redundancy, Mar 4, Chiaverini et al., “Redundant robots”, Springer Handbook of Robotics, 2nd ed., ch. 10-10.2.2.
Learning/modeling of manipulation skills, Mar 18, Peters et al., “Robot Learning”, in Springer Handbook of Robotics, 2nd ed., secs. 15-15.1.2, 15.4
and Brock et al., “Mobility and Manipulation”, in Springer Handbook of Robotics, 2nd ed., secs. 40, 40.4, 40.4.2-40.4.3
Task and motion planning, Mar 25, Springer Handbook of Robotics, 2nd ed., secs. 14.3-14.3.2, 36.3-36.3.3