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
    cup-stacking (google search)
    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:
    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.

    Force closure computation (for Problem Set 7)
  2. Kinematic foundations
    1. Central projection figure (Cabri file)
    2. Parallel lines figure (Cabri file)
    3. Dual construct figure (Cabri file)
  3. Planar kinematics
    some additional resources:
    1. Cornell kinematics site
    2. Kinematic Synthesis of Linkages, by Denavit and Hartenberg, full text onlin
    3. Movie files used in lecture
      1. FourBarLinkage
      2. EllipticTrammels
      3. SliderCrank
      4. SliderCrankWithCouplerPoints
      5. SliderCrankWithCouplerCurves
      6. EllipticTrammels
      7. EllipticTrammelsWithIC
      8. EllipticTrammelsWithFixedCentrode
      9. EllipticTrammelsWithBothCentrodes
      10. EllipticTrammelsWithOneCurve
      11. EllipticTrammelsWithFiveCurves
    4. Cabri files
      1. Decomposition
      2. DecompositionReverse
      3. EllipticTrammels
      4. FourBarLinkage
      5. SliderCrank
  4. Planar kinematics, part 2
  5. 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 .
  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
    1. Polar Mathematica notebook
    2. Polar video
    3. Duality video
  21. Quasistatic manipulation. Grasps and fixtures.
    1. Implementing force closure.
  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