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
To ensure emails are received, include 16-741 in the subject line
Mechanics of Robotic Manipulation, by Matthew T. Mason. MIT Press, 2001.
You can reach the online version of the textbook here.
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.
"Introduction to Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park.