Robotic Manipulation Reading Group:


BOOK | PEOPLE | CHAPTERS | MEETINGS | LINKS


Book:

"A Mathematical Introduction to Robotic Manipulation." Richard M. Murray, Zexiang Li, and S. Shankar Sastry. CRC Press, Inc., 1994. Online PDF


People:

  • Howie Choset
  • Amir Degani
  • Matt Tesch
  • Ross Hatton
  • Dmitry Berenson
  • Tong Tao
  • Kevin Peterson

Chapters:

Chapter 1: Introduction: Brief historical background.

 

Chapter 2: Rigid Body Motion

 

Chapter 3: Manipulator Kinematics

 

Chapter 6: Hand Dynamics and Control

 

Chapter 7: Nonholonomic Behavior in Robotic Systems


Meetings:

  • Meeting #1  [Dec 3, 2009] [Chapter 1, Chapter 2 up to section 3 included] [Highlights & Homework]
  • Meeting #2  [Dec 10, 2009] [Chapter 2: up to section 4 included]
  • Meeting #3  [Jan 20, 2009] [Chapter 2: up to section 4 included]
  • Meeting #4  [Jan 27, 2010] 2.3
  • Meeting #5  [Feb 3, 2010] 2.4 + problem 2.16
  • Meeting #6  [Feb 17, 2010] 2.5 Wrenches and Reciprocal Screws

Links:

Online PDF

Murray’s MLS page


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Last Modified -- Feb, 2010