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 |
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 |