16-741 Mechanics of Manipulation

Fall 2017

Instructor: Matthew Mason
TA: Ankit Bhatia
Admin: Jean Harpley

12 units
MW 12:00 – 1:20 pm, GHC 4211
F lectures TBD

Matt's office hour: Wed 1:30 pm or by appointment, NSH A521
Ankit's office hours: Mon 1:30 pm and Thu 3:00 pm, NSH A421 (starting Thursday, Aug. 31)


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.

Additional resources:

"Introduction to Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park. In beta.