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.)
    v14_4 v15_3 v1_4 v26_4 v3_3 v4_3 v5_4 v7_4 v8_4 v9_3
    smartAssyS smartOrientWhiteS
    I did not upload the cup-stacking video -- too big.)
    Aibo Pedipulation video (courtesy of Ethan Tira-Thompson)
    Some ape and monkey stuff I've collected:
    1. Termite fishing
    2. Notes on chimp vs human genome. Locomotion implications of Lucy's butt. Marzke interview touching on chimp throwing and Lucy throwing.
    3. Humans vs baboons I.
    4. Humans vs baboons II.
    5. Monkeys vs humans I.
    6. Monkeys vs humans II.
  2. Kinematic foundations
  3. Planar kinematics
    some additional resources:
    1. Cornell kinematics site
    2. Kinematic Synthesis of Linkages, by Denavit and Hartenberg, full text onlin
    3. Animation of elliptic trammels centrodes
    4. Watts linkage centrodes
  4. Spatial kinematics. Constraint
    1. Kinematics of Machinery: Outlines of a Theory of Machines.
      Franz Reuleaux and Alex B. W. Kennedy (ed. and trans.)
      full text online .
  5. Nonholonomy
  6. Kinematic models of contact. (And Reuleaux's analysis of planar constraint.)
  7. Foundations of statics.
  8. Screw coordinates. (That's not an imperative, it's a noun phrase.)
  9. Polyhedral convex cones.
  10. The oriented plane.
  11. Moment labelling.
  12. Planar sliding
    1. Examples one and two
    2. Limit surface Mathematica notebook
    3. Limit surface for barbell, views 1, 2, and 3
  13. Kinematic Representations
    1. Sampling rotations: Grasp synthesis movie
    2. Controlling rotations: Ninja humanoid movie
    3. Stable dyanmic simulation with rotations: Cylinder on palm movie
  14. Kinematic Representations: The Usual Suspects
    1. Sidd's notes
  15. Quaternions
  16. Interpolation
    1. Rotation without leaking into the 4th dimension
    2. Rotation with leakage into the 4th dimension
    3. The quaternion dance
  17. Planar sliding continued. See notes for lecture 12.
  18. Force dual
    1. Polar Mathematica notebook
    2. Polar video
    3. Duality video
  19. Quasistatic manipulation. Grasps and fixtures.
  20. Pushing.
    1. See the examples from lecture 12: here and here
  21. Parts orienting
    1. Bowl feeder video
    2. Sony APOS parts orienting system
    3. Computer vision alternative: http://www.braintech.com/videos-rbp.php
  22. Assembly
  23. Juggling