Lecture notes

 

  1. Goals and philosophy
    (If you want to see the videos you will need to download
    them as well, and put them in the directory with the pdf file.
    v14_4 v15_3 v1_4 v26_4 v3_3 v4_3 v5_4 v7_4 v8_4 v9_3
    smartAssyS smartOrientWhiteS
    I did not upload the cup-stacking video -- too big.)
    Aibo Pedipulation video (courtesy of Ethan Tira-Thompson)
    Some ape and monkey stuff I've collected:
    1. Termite fishing
    2. Notes on chimp vs human genome. Locomotion implications of Lucy's butt. Marzke interview touching on chimp throwing and Lucy throwing.
    3. Humans vs baboons I.
    4. Humans vs baboons II.
    5. Monkeys vs humans I.
    6. Monkeys vs humans II.
       .
  2. Kinematic foundations
  3. Planar kinematics
    Centrodes for Watt's linkage
  4. Spatial kinematics. Constraint.
  5. Nonholonomy
  6. Representing rotations
  7. Quaternions
  8. Representing displacements
  9. Representing constraints
  10. CSpace xform and path planning
  11. Kinematic models of contact
  12. Rigid body statics
  13. Polyhedral convex cones
  14. The Oriented Plane
  15. Moment Labeling
  16. Friction
  17. Planar sliding
  18. Force Dual Mathematica notebook for limit surface example. Quicktime of limit surface. Another Quicktime of limit surface. Another Quicktime of limit surface. Mathematica notebook for dual construction example. Quicktime duality. Another Quicktime of duality.
  19. Graphical method wrapup. Notes not available. We covered sections 5.8 and 5.9 in the text, focusing on figures 5.18 and 5.19.
  20. Quasistatic manipulation. Grasp and Fixture. Pushing.
  21. Pushing.
  22. Parts orienting
  23. Assembly
  24. Rigid body dynamics
  25. Rigid body tumbling
    Video of rigid body tumbling courtesy Michel & Schnizer
    Link to Michel & Schnizer's Simulations in Analytical Mechanics site

    Below this line are notes not yet updated from previous years.
  26. Dynamic frictional contact
  27. Impact
  28. Quasidynamic frictional contact