MW 12:00 – 1:20 pm, GHC 4211
F lectures: 10/12, 11/9, 11/30; Location GHC 4303
Cancelled Lectures: 10/24
Matt's office hours: Wed 1:30 pm or by
appointment, NSH A521
Jonathan's office hours: Mon 1:30 pm or by appointment, NSH 4224
To ensure emails are received, include 16-741 in the subject line
Mechanics of Robotic Manipulation, by Matthew T. Mason. MIT Press, 2001.
You can reach the online version of the textbook here.
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.
"Introduction to Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park.