Manipulation by humans and robots CENG 782 Planning
Manipulation by humans and robots CENG 782 - Planning of Robotic Manipulation Instructor: Erol Sahin 1
What is manipulation? ¢ ¢ Manipulation is the process of using one’s hands to rearrange one’s environment. [M. T. Mason] A skill that § humans and animals are extremely good, § robots are extremely bad at. 2
Human Manipulation at its best. . ¢ https: //www. youtube. com/watch? v=STYKz. XMkqb. E 3
Cup Stacking by six-year old ¢ https: //www. youtube. com/watch? v=q. SJCMZt. Ef 6 E 4
Darpa Robotics Challenge ¢ ¢ A competition to develop the hardware, software, sensors, and human-machine control interfaces that will enable their robots to complete a series of challenge tasks for disaster response. Took place at June 5 -6, 2015 at Fairplex in Pomona, California. http: //www. theroboticschallenge. org/ https: //www. youtube. com/embed/mps. XQCHr. Al. M? width=640&height=480&autoplay=1&showinfo=1&controls=1&autohide= 0&iv_load_policy=0&iframe=1&rel=0&modestbranding=1&theme=light&color=white&wmode=opaque 5
The DRC Finals 2015 Robot Tasks ¢ https: //www. youtube. com/embed/1 AGe. Y 2 YB_8 k? width=640&height=480&autoplay=1&showinfo=1&controls=1&autohide=0 &iv_load_policy=0&iframe=1&rel=0&modestbranding=1&theme=light&color=white&wmode=opaque 6
And the winner is. . Hubo from KAIST ¢ https: //www. youtube. com/watch? v=Pomk. J 4 l 9 CMU 7
A notable second. . ¢ https: //www. youtube. com/watch? v=PAHVxqf 83 Jk 8
DRC Failures ¢ https: //www. youtube. com/watch? v=Ne. Fkrwag. Yfc 9
Robotic manipulation - goal ¢ ¢ Automate manipulation Machines that can manipulate like human/animals 10
Robotic Manipulation ¢ cutting-edge research has started to shift towards § the development of planning algorithms built upon § the kinematic and dynamic models of the manipulator and § its interaction with the environment. ¢ You need to know § not only about the kinematic, dynamic and control of robotic systems § but also the algorithms as well as their computational complexities. 11
Content overview - 1 ¢ Rigid body motion § Spatial displacements § Spatial rotations (Euler angles, rotation matrices and quaternions) § Screws and wrenches ¢ Manipulator Kinematics - 1 § Forward Kinematics ¢ Manipulator Kinematics - 2 § Inverse Kinematics ¢ Manipulator Kinematics - 3 § Manipulator Jacobian § Force relationships 13
Content overview - 2 ¢ Rigid Body Statics § Models of contact § Contact wrenches and wrench cones ¢ Friction § Coulomb’s law § Friction cones § Planar single contact problems ¢ Grasping 1 § Force- and form closure § Grasp synthesis and map ¢ Grasping 2 § Grasp stability and quality § Grasp planning 14
Content overview - 3 ¢ Planning - 1 § Configuration space § Planning in configuration space ¢ Planning - 2 § Probabilistic roadmaps § Rapidly-Exploring Random Trees ¢ Planning - 3 § Single-query and multi-query planning § Anytime planning § Planning with costs and constraints ¢ Recent advances in manipulation: Student presentations 15
Background requirements ¢ ¢ Open to all engineering students Will need to cover § Calculus § Linear algebra § Programming - MATLAB 16
Textbook ¢ ¢ P. Corke. Robotics, vision and control: fundamental algorithms in MATLAB. Vol. 73. Springer S, 2011. § http: //www. petercorke. com/RVC/ M. T. Mason, Mechanics of Robotic Manipulation, MIT Press, 2001. § http: //cognet. mit. edu/book/mechanicsof-robotic-manipulation ¢ R. R. Murray, Li, Z. , Sastry, S. S. , A mathematical introduction to robotic manipulation. CRC press. Chicago, 1994. § http: //www. cds. caltech. edu/~murray/b ooks/MLS/pdf/mls 94 -complete. pdf ¢ S. M. La. Valle, Planning algorithms. Cambridge university press, 2006. § http: //planning. cs. uiuc. edu/booka 4. pdf 17
Course Components ¢ Lectures § Theoretical and high-level course content ¢ Homeworks (3) § Programming and/or derivation of certain problems ¢ Presentations (2) § of a paper reporting the state-of-the-art in robotic manipulation ¢ Exam (final) § Test your understanding of concepts & mathematical principles 18
Getting Help ¢ Mailing list: § Announcements ¢ Email communication: Make sure that the subject line starts with CENG 782 [capital letters, and no spaces] to get faster reply. ¢ Office hour: § Erol Sahin: By appointment 19
Background ¢ Linear Algebra § Crash course § https: //www. khanacademy. org/math/linearalgebra/vectors_and_spaces ¢ MATLAB § Robotics Toolbox from Peter Corke § http: //petercorke. com/wordpress/ 20
Welcome and Enjoy! 21
- Slides: 20