# 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.)
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)

(Notes below this point are unrevised from previous years.)

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. Spatial kinematics. Constraint
5. Nonholonomy
1. Planar contact constraints (Reuleaux's method)
2. Nonholonomic constraint
6. Machine manipulation before robotics
Skipped. Interested students should read the lecture notes.
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. Factory manipulation; pick-and-place
12. Cspace transform , pick -and-place
13. Kinematic models of contact
14. Foundations of statics.
15. Polyhedral Convex Cones
16. Oriented Plane
17. Moment Labelling
18. Skipped: Early autonomous manipulation
19. Friction
20. Planar sliding
1. Examples one, two, and three.
2. Limit surface Mathematica notebook
3. Limit surface for barbell, views 1, 2, and 3
21. Pushing.
1. See the examples: here and here
22. Quasistatic manipulation. Grasps and fixtures.
23. Force dual
24. Parts orienting
25. Biological manipulation
26. Dynamics
27. Dynamics and frictional contact; impact
28. TBD
29. Conclusion

Other old lectures / notes

1. Quasidynamic parts orienting
2. Manipulation planning
3. Mehmet's lecture?
4. Juggling "theory"
5. Degani's lecture: Dynamic Climbing
6. Juggling "practice"