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.)
    Intel video
    v14_4 v15_3 v1_4 v26_4 v3_3 v4_3 v5_4 v7_4 v8_4 v9_3
    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:
    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
    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. 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



    Everything below this line is unrevised from previous years

  6. Kinematic representation: spatial rotation
  7. Quaternions.
  8. Screw coordinates. (That's not an imperative, it's a noun phrase.)
  9. Representing kinematic constraint
  10. Cspace transform and path planning
  11. Kinematic models of contact. Foundations of statics.
  12. Polyhedral Convex Cones
  13. Oriented Plane
  14. Moment Labelling
  15. Friction

    (Notes below this point are unrevised from 2010.)
  16. Planar sliding
    1. Examples one and two
    2. Limit surface Mathematica notebook
    3. Limit surface for barbell, views 1, 2, and 3
  17. Pushing.
    1. See the examples: here and here
  18. Quasistatic manipulation. Grasps and fixtures.
  19. Force dual
    1. Polar Mathematica notebook
    2. Polar video
    3. Duality video
  20. Parts orienting
    1. Bowl feeder video
    2. Sony APOS parts orienting system
    3. http://www.braintech.com/videos-rbp.php
  21. Dynamics
    1. Tumbling body video
  22. Dynamics and frictional contact; impact
  23. Quasidynamic parts orienting
  24. Manipulation planning
  25. Mehmet's lecture?
  26. Juggling "theory"
  27. Degani's lecture: Dynamic Climbing
  28. Juggling "practice"