ME CDS 270: Multi-Fingered Robotic Grasping: Mechanics and Control

Spring 2010-2011



Course Staff

Course Instructor: Joel Burdick Room 319 Thomas (626) 395-4139 jwb@robotics.caltech.edu
Teaching Assistant: TBD
Administrative: Mrs. Maria Koeper Room 321 Thomas (626) 395-3385 maria@robotics.caltech.edu


Course Schedule

For the near future, class will meet MWF at 2:00-3:00 pm in 142 Keck

Course Information


Final Exam/Project Information

Some possible papers for final projects:


Course Texts

The course will use two texts:


Lectures, Reading, and Homework Schedule

Date: Lecture Reading Optional Reading Homework
03/28/2011 Organizational Meeting Chapter 2 of MLS (pp. 19-39) Chapter 1 of Burdick and Rimon -none-
03/30/2011 Class cancelled /td> (continued) Chapter 2 of MLS (pp. 19-39) -none- -none-
04/01/2011 Brief review of Rigid Body Kinematics (continued) MLS Chapt 2 (pp. 19-39) The First section (pp. 22-26)
of Rimon & Burdick Chapter 2
ME 115(a) Notes on Rotations
-none-
04/04/2011 More rigid body kinematics Pages 34-61 in Chapter 2 of MLS -none- -none-
04/06/2011 Yet more rigid body kinematics Pages 51-66 in Chapter 2 of MLS Notes on the Classical Matrix Groups
Chapter 3 of Rimon & Burdick
-none-
04/08/2011 Rigid Body Contact Models 211-222 in Chapter 5 of MLS -none- Homework 1
Due Friday April 15, 2011
Solution 1
04/11/2011 The Grasp Map 211-222 in Chapter 5 of MLS (continued)
-none- -none-
04/13/2011 The Grasp Map The first four sections of Chapter 4 of Rimon & Burdick -none- -none-
04/15/2011 Equilibrium Grasps The first four sections of Chapter 4 of Rimon & Burdick -none- -none-
04/18/2011 Force Closure/Wrench Resistant Grasps Section 6.2 of Chapter 6 of Rimon & Burdick -none- -none
04/20/2011 Force Closure continued Finish reading Pages 211-228 of MLS -none- Homework 2
Solution 2
04/22/2011 Force Closure & LMIs Section 11.1 and 11.2 in Chapt11 of Rimon & Burdick -none- -none-
04/25/2011 Force Closure & LMIs ( continued )Section 11.1 and 11.2 in Chapt11 of Rimon & Burdick -none- -none-
04/27/2011 Configuration Space Sections 2.1, 2.2, and 2.31 in Chapt2 of Rimon & Burdick Notes on the Star Algorithm -none-
04/29/2011 Configuration Space Sections 2.1, 2.2, and 2.31 of Rimon & Burdick ( continued) Notes on differential geometry of curves -none-
5/02/2011 Background to Immobilization Burdick & Rimon Chapter 6 Notes on differential geometry of surfaces (Note, this is a revised handout) -none-
5/04/2011 1st-order Immobilization Burdick & Rimon Chapter 7 Notes on differential geometry of surfaces
(Note, this is a revised handout)
Homework 3
(due May 28, 2011)
5/06/2011 2nd Immobilization -none- Notes on differential geometry of surfaces
(Note, this is a revised handout)
-none
5/09/2011 no class -none- -none- -none
5/11/2011 lecture on caging -none- -none- -none
5/13/2011 no class -none- -none- -none
5/16/2011 Curvature and 2nd order mobility Rimon & Burdick 98a Rimon & Burdick 98b -none
5/18/2011 Curvature and 2nd order mobility/Grasp Planning Rimon & Burdick 98a Rimon & Burdick 98b -none
5/20/2011 Grasp Planning -TBD- -none- Homework #4
5/230/2011 Grasp Planning Computing All Immobilizing Grasps of a Simple Polygon -none- Final Project Guidelines


Questions and complaints should be addressed to:
jwb@robotics.caltech.edu