# Lecture Notes

1. Goals and philosophy
(If you want to see the videos you will need to download
them as well. I've added several to what I showed in lecture.)
Toward Robotic Manipulation, Matt's recent overview.
FRIDA assembling E-Stop (Lund University)
Vicki the chimpanzee videos:
v14_4 v15_3 v1_4 v26_4 v3_3 v4_3 v5_4 v7_4 v8_4 v9_3
Julia Child SlicingPotato
For the robotic origami video, YouTube "robotic origami"
smartAssyS smartOrientWhiteS
I did not upload the cup-stacking video -- too big.
Nor the Michael Moschen video, for copyright reasons.
Aibo Pedipulation video (courtesy of Ethan Tira-Thompson)
Some ape and monkey stuff I've collected:

Force closure computation (for Problem Set 7)
2. Kinematic foundations
3. Planar kinematics
1. Cornell kinematics site
2. Kinematic Synthesis of Linkages, by Denavit and Hartenberg, full text onlin
3. Movie files used in lecture
4. Cabri files
4. Planar kinematics, part 2
5. Spatial kinematics. Constraint
6. Reuleaux; Nonholonomy
1. Planar contact constraints (Reuleaux's method)
2. Nonholonomic constraint
7. Kinematic representation: spatial rotation
8. Quaternions
9. Screw coordinates. (That's not an imperative, it's a noun phrase.)
10. Representing kinematic constraint
11. Cspace transform , pick -and-place
12. Kinematic models of contact
13. Foundations of statics
14. Polyhedral Convex Cones
15. Oriented Plane
16. Moment Labelling
17. Friction
18. Planar sliding
1. Examples one, two, and three.
2. Limit surface Mathematica notebook
3. Limit surface for barbell, views 1, 2, and 3
19. Pushing.
1. See the examples: here and here
20. Force dual
21. Quasistatic manipulation. Grasps and fixtures.
22. Assembly, placing
23. Rigid body dynamics
24. Tumbling rigid bodies (No lecture notes. See 2nd half of Lecture 23.)
25. Force control
26. Frictional contact problems
27. Graphical methods for planar multiple contact
28. Conclusion
29. Project presentations