ELEC-E8126 - Robotic manipulation D, 13.01.2021-12.04.2021
This course space end date is set to 12.04.2021 Search Courses: ELEC-E8126
Topic outline
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Concept
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.
Arrangements
Course lectures will be given during third and fourth period.
Lectures will be given over Zoom at link https://aalto.zoom.us/j/65514539240.
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 18, no readings
Motion planning, Jan 25, Lynch & Park ch. 5-5.1.4
Perception for manipulation, Feb 1, Lynch & Park ch. 10
Motion control, Feb 8, Lynch & Park ch. 11-11.3.2
Control in contact, Feb 15, Lynch & Park ch 11.5-11.6Manipulation, Feb 22, Lynch & Park ch 12-12.1.3Friction and grasping, Mar 1, Lynch & Park, Chapter 12.2-12.2.2Dynamic movement primitives (guest lecture), Mar 8Closed kinematic chains, Mar 15, Lynch & Park, Chapter 7-7.1.3Redundancy, Mar 22, Chiaverini et al., “Redundant robots”, Springer Handbook of Robotics, 2nd ed., ch. 10-10.2.2.Learning/modeling of manipulation skills, Mar 29, Kroemer et al., "A review on robot learning for manipulation", secs. 1-3.