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Robotics IIPlanning and Manipulation

Jeff Trinkle

MRC 330c

TA: Blake Farman

Robotics I Topics

• Spatial description (Craig chapter 2)

• Manipulator kinematics (Craig chapter 3)

• Inverse manipulator kinematics (Craig chapter 4)

• Manipulator Jacobians (Craig chapter 5)

• Manipulator dynamics (Craig chapter 6)

• Linear control (Craig chapter 9)

• Nonlinear control (Craig chapter 10)

• Force control (Craig chapter 11)

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Robotics II Topics

• Grasping – (Chapter 28 from Springer Handbook of Robotics, 2008)

• If necessary – Trajectory Planning (Craig chapter 7)

• Motion Planning (LaValle Chapters 1-6)– Piano mover’s problem– Moving a robot arm among obstacles

• Manipulation Planning – Multibody dynamics– Motion planning + physical constraints

• Device Design– Variation on manipulation planning

• Other current topics – probably from recent publications– Robot programming (Craig chapter 12 or papers)– tbd…

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Trajectory Planning with Geometric and Physical Model

• Surface geometry

• Paint deposition physics

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Manipulation Planning State of the Art?

• Human vs Robot

Household Robotics

• Kuffner et al.

• Robotics: Science and Systems 2008

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Grasp Acquisition

• Parallel jaw gripper grasping a lock part

• 100,800 trials– Slow or fast– Clean or sandy

Brost and Christiansen, 1995

Success Rate

Success

Failures

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More Manipulation Examples

• Ram’s planner

• Kaneko’s handshttp://www.k2.t.u-

tokyo.ac.jp/index-e.html

• Koditschek’s HRex

Parts-Feeder Design

Design Goals: 1) All pegs exit closed end down

2) Maximize through-put??

Boothroyd (1960’s)

Solved without simulation

Experimental Validation

• Experimental test bed developed in GRASP Lab

with Song, Pang, and Kumar

Real Factory Automation: Bottle Making

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Human Meso-Scale Assembly

Fixture plate holding pawl

with Jones and Kozlowsky (2004)

Automated Meso-Scale Assembly

• Insertion planned using:– LaValle’s Rapidly-Exploring Dense Trees (RDTs)– dVC for simulation http://www.robotics.cs.rpi.edu/dvc/

• Execution open loop

• Closed-loop execution possible with detailed, pre-computed RDT

with Cappelleri, et al. 2006

Solving the Peg-in-Hole Problem

• Estimate surface friction model

• Use RDT

with Cappelleri, et al. 2006

Analytical Design of Vibratory Manipulation

• Manipulate small parts in parallel

• Control gross motion with “asymptotic velocity fields”

• Generated by periodic support surface trajectories that bias the net friction force

Vose, Umbanhower, and Lynch, 2007

Computational Design of Vibratory Manipulation

• Vose received RSS 2008 best student paper award ($2,500)!

• Six speakers coupled to plate generate desired plate vibration

with Berard, Nguyen, and Anderson

Practical Details

• TA is Blake Farman (farmab@rpi.edu)– Main responsibilities:

• dVC from RPI

• OOPSMP (Oops Motion Planner?!) from Rice

– Office MRC 332– Office hours:

• 8pm to 10pm Mondays and Thursdays

• Also by appointment

• Other possiblilities (W all day; T,F after 5pm)

• Trinkle (trinkj@rpi.edu)– Office MRC 330c– Office hours:

• 3pm to 4pm (or by appointment)

• Also by appointment

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First Assignment

• Install dVC-3D– Before class on Friday (1/16), install Qt (http://www.qtsoftware.com/)– Blake will be available:

• Via email farmab@rpi.edu

• In office – but contact first to make sure

• Friday in class– Install dVC-3D– Linux or visual studio

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Dogs can Plan Complex Tasks Too

Dynamics

Intermittent contact

Nonholonomic constraints

Nonlinear control