16-741 Mechanics of Manipulation

Fall 2019

Instructor: Matthew Mason
TA: Yifan Hou
Admin: Jean Harpley

12 units
MW 12:00 – 1:20 pm, GHC 4211
F lectures: TBD; TBD
Cancelled Lectures: TBD

Matt's office hours: Wed 1:30 pm or by appointment, NSH A521
Yifan's office hours: (Out Oct.29 to Nov.10) Tue 1:30 pm, Fri 10am or by appointment, NSH A423
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Mechanics of Robotic Manipulation, by Matthew T. Mason. MIT Press, 2001.

Errata page.

You can reach the online version of the textbook here.

Prerequisites are:


To understand the mechanical processes governing manipulation, with a focus on the interaction of hand with environment. The class focuses on models founded on classical mechanics: kinematics, statics, and dynamics of interacting rigid bodies. We will develop techniques for rigid body mechanics, kinematic constraint, Coulomb friction, gravity, and impact, and apply these techniques to manipulation problems including picking and placing, parts orienting, assembly, and mobile manipulation.

Additional resources:

"Introduction to Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park.