16-741 Mechanics of Manipulation

Fall 2015

Instructor: Matthew Mason
TA: Sung Kyun Kim
Admin: Jean Harpley

12 units
MW 1:30 -2:50 pm, GHC 5222
F lectures TBD

Matt's office hour: W 3:00 pm or by appointment
Sung's office hours: M 3:00 pm, F 12:00 pm @ NSH 1612A


Mechanics of Robotic Manipulation, by Matthew T. Mason. MIT Press, 2001.

Errata page.

You can reach the online version of the textbook here.

Prerequisites are:


To understand the mechanical processes governing manipulation, with a focus on the interaction of hand with environment. The class focuses on models founded on classical mechanics: kinematics, statics, and dynamics of interacting rigid bodies. We will develop techniques for rigid body mechanics, kinematic constraint, Coulomb friction, gravity, and impact, and apply these techniques to manipulation problems including picking and placing, parts orienting, assembly, and mobile manipulation.