Where: NSH 3002
When: MW, and sometimes F. 1:30 pm- 2:50 pm
Matt's office hour: W 3:00 pm or by
Yin's office hours: Th 2:00 - 4:00 pm or by appointment
Mechanics of Robotic Manipulation, by Matthew T. Mason. MIT Press, 2001.
You can reach the online version of the textbook here. (If you were inside the CMU network, this used to be free. It's not working for me now ... 13 Jan 2013.)
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.