1. Goals and philosophy
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1 1. Goals and philosophy Mechanics of Manipulation Matt Mason Carnegie Mellon Lecture 1. Mechanics of Manipulation p.1
2 Course content How does manipulation work? Kinematic manipulation Kinematics Kinematic representation Applications to manipulation: Motion planning; kinematic models of contact. Lecture 1. Mechanics of Manipulation p.2
3 Course content How does manipulation work? Kinematic manipulation Kinematics Kinematic representation Applications to manipulation: Motion planning; kinematic models of contact. Static and quasistatic manipulation Rigid body statics Friction Applications to manipulation: Grasping, fixtures, pushing, parts orienting. Lecture 1. Mechanics of Manipulation p.2
4 Course content How does manipulation work? Kinematic manipulation Kinematics Kinematic representation Applications to manipulation: Motion planning; kinematic models of contact. Static and quasistatic manipulation Rigid body statics Friction Applications to manipulation: Grasping, fixtures, pushing, parts orienting. Dynamic manipulation Rigid body dynamics Impact Applications to manipulation: Quasidynamic parts orienting, juggling. Lecture 1. Mechanics of Manipulation p.2
5 Why? Scientific curiosity. We want to know how manipulation works. Lecture 1. Mechanics of Manipulation p.3
6 Why? Scientific curiosity. We want to know how manipulation works. To build robots. Use engineer s knowledge of how manipulation works. Lecture 1. Mechanics of Manipulation p.3
7 Why? Scientific curiosity. We want to know how manipulation works. To build robots. Use engineer s knowledge of how manipulation works. Is it even possible to not have such a model? Lecture 1. Mechanics of Manipulation p.3
8 Why? Scientific curiosity. We want to know how manipulation works. To build robots. Use engineer s knowledge of how manipulation works. Is it even possible to not have such a model? To build model-based autonomous robots. Use robot s knowledge of how manipulation works. Lecture 1. Mechanics of Manipulation p.3
9 Why? Scientific curiosity. We want to know how manipulation works. To build robots. Use engineer s knowledge of how manipulation works. Is it even possible to not have such a model? To build model-based autonomous robots. Use robot s knowledge of how manipulation works. Is it even possible to not...? Perhaps an implicit model? Lecture 1. Mechanics of Manipulation p.3
10 Why build model-based robots? Maybe you should not. For many tasks, you can build a robot based on your own knowledge of the mechanics of manipulation. Don t underestimate ad hoc engineering based on human intuition and experience. Lecture 1. Mechanics of Manipulation p.4
11 Why build model-based robots? Maybe you should not. For many tasks, you can build a robot based on your own knowledge of the mechanics of manipulation. Don t underestimate ad hoc engineering based on human intuition and experience. Sometimes engineers should... So the robot can try things out in its head instead of the real world. Lecture 1. Mechanics of Manipulation p.4
12 Why build model-based robots? Maybe you should not. For many tasks, you can build a robot based on your own knowledge of the mechanics of manipulation. Don t underestimate ad hoc engineering based on human intuition and experience. Sometimes engineers should... So the robot can try things out in its head instead of the real world. Sometimes scientists should... As a properly skeptical scientist, how do you show that some phenomenon is critical in a given task? That you have properly modeled that phenomenon? Lecture 1. Mechanics of Manipulation p.4
13 Course organization Lectures: MW 10:30 11:50. Five minute break. Makeup lectures as needed: F 10:30 11:50. Textbook: Mechanics of Robotic Manipulation, MIT Press, Conflict of interest: let s spend my royalties. Grading 60/30/10: 1. Assignments. Probably just four or so. 2. Term project. Spend hours. Proposal. Report. 3. Final. Last day of class. Lecture 1. Mechanics of Manipulation p.5
14 What is manipulation? First example: human. Lecture 1. Mechanics of Manipulation p.6
15 What is manipulation? Second example: robotic. Lecture 1. Mechanics of Manipulation p.7
16 What is manipulation? Second example: robotic. Lecture 1. Mechanics of Manipulation p.8
17 What is manipulation? Second example: robotic. Lecture 1. Mechanics of Manipulation p.9
18 What is manipulation? Second example: robotic. Lecture 1. Mechanics of Manipulation p.10
19 What is manipulation? Second example: robotic. Lecture 1. Mechanics of Manipulation p.11
20 What is manipulation? Compare and contrast. What are the common elements? Lecture 1. Mechanics of Manipulation p.12
21 What is manipulation? Compare and contrast. What are the common elements? What are the differences? Lecture 1. Mechanics of Manipulation p.12
22 What is manipulation? Compare and contrast. What are the common elements? What are the differences? To design a SMART Cell application, what problems need to be solved? Lecture 1. Mechanics of Manipulation p.12
23 What is manipulation? Compare and contrast. What are the common elements? What are the differences? To design a SMART Cell application, what problems need to be solved? Design the product!!! Lecture 1. Mechanics of Manipulation p.12
24 What is manipulation? Compare and contrast. What are the common elements? What are the differences? To design a SMART Cell application, what problems need to be solved? Design the product!!! Design the APOS trays and vibrations. Lecture 1. Mechanics of Manipulation p.12
25 What is manipulation? Compare and contrast. What are the common elements? What are the differences? To design a SMART Cell application, what problems need to be solved? Design the product!!! Design the APOS trays and vibrations. Design the gripper. Lecture 1. Mechanics of Manipulation p.12
26 What is manipulation? Compare and contrast. What are the common elements? What are the differences? To design a SMART Cell application, what problems need to be solved? Design the product!!! Design the APOS trays and vibrations. Design the gripper. Design the pick and place motions. Lecture 1. Mechanics of Manipulation p.12
27 What is manipulation? Compare and contrast. What are the common elements? What are the differences? To design a SMART Cell application, what problems need to be solved? Design the product!!! Design the APOS trays and vibrations. Design the gripper. Design the pick and place motions. There s probably a lot more... Lecture 1. Mechanics of Manipulation p.12
28 What is manipulation? Example 3: Viki. Hayes, K. C., and Hayes, C. Journal Comp. Physiol. Psychol Lecture 1. Mechanics of Manipulation p.13
29 What is manipulation? Example 3: Viki. Lecture 1. Mechanics of Manipulation p.14
30 What is manipulation? Example 3: Viki. Lecture 1. Mechanics of Manipulation p.15
31 What is manipulation? Example 3: Viki. Lecture 1. Mechanics of Manipulation p.16
32 What is manipulation? Example 3: Viki. Lecture 1. Mechanics of Manipulation p.17
33 What is manipulation? Example 3: Viki. Lecture 1. Mechanics of Manipulation p.18
34 What is manipulation? Example 3: Viki. Lecture 1. Mechanics of Manipulation p.19
35 What is manipulation? Example 3: Viki. Lecture 1. Mechanics of Manipulation p.20
36 What is manipulation? Example 3: Viki. Lecture 1. Mechanics of Manipulation p.21
37 What is manipulation? Example 4: Chimps. It is a little daunting to discover on the very technological grounds on which human superiority is often claimed that after months of apprenticeship, human scientists cannot do as well as preadolescent chimps. Teleki remained generous and good-natured about his failure. In the acknowledgments at the end of the paper, among thanks to various organizations for financial and logistical support, there appears this sentence: "I am, in addition, more than grateful to the patient and tolerant Leakey, whose termite-collecting skills so out-stripped mine." Lecture 1. Mechanics of Manipulation p.22
38 What is manipulation? Example 3: Viki. Lecture 1. Mechanics of Manipulation p.23
39 Not to give the chimps the last word... Lecture 1. Mechanics of Manipulation p.24
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