- Time: Once per week, 4:00-5:45 Mondays or Fridays (see
schedule below)
- Location: Terman 529 or Bldg 560 CDR conf. room
+ individual meetings with instructor to prepare
presentations.
- Enrollment: Approximately 12
- Instructor:
Mark R. Cutkosky, Terman 523
-
- Phone: 415-725-1588, email: cutkosky@cdr.stanford.edu
- Units: 3 (Pass/NoCredit)
Course Description:
This course will explore issues in dextrous manipulation and
teleoperation. Basic issues include: modeling of grasps and
manipulation with multi-fingered hands; contact kinematics, dynamics and
the role of tactile sensing; hybrid force/position and impedance control
for manipulation; grasp and manipulation planning with rolling
and sliding.
Philosophy and Content:
This course is intended for graduate students who already have some
familiarity with robotics and controls and want to explore the history
and current state of the art in dextrous manipulation. The focus will
be on modeling issues, but we will also address applications to
autonomous and teleoperated hands.
Dextrous manipulation as a field is now about 15 years old. We will begin
our study with a review of a few benchmark early papers and look carefully at
their underlying assumptions and contributions. We will proceed through
more recent papers to obtain an understanding of how the field has
progressed and matured. Finally, we will examine current topics in
sensing, task-planning and control.
Prerequisites:
ME200a or CS205, and CS223 or CS327 or equivalent (consult instructor
if uncertain about your background).
It will be assumed that students have a basic familiarity with the
underlying concepts from linear algebra, dynamics and controls.
Students should be willing to dip into topics like Minkowski sums,
screws and Lie algebra as they come up in the context of manipulation.
Presentations:
Presentations and critical discussion are the main components of this
course (as in the research community in general). Each student will be
responsible for presenting one or two papers during the quarter. (The
presentations will be informal, as befits a small summer course.)
The assignments of papers will be made at the start of the quarter.
Everybody in the class will be expected to read over the paper, but the
presenter will be expected to have gone through it at greater depth.
The idea is for everybody to become familiar with all the topics we
cover and to become an expert in a couple of them.
When presenting, think of yourself as reviewing a paper for a
scientific workshop or preparing a discussion for Robotics
Review (M.I.T. press). The point is not to regurgitate the
paper contents but rather to lead a critical discussion of its
contributions and shortcomings. (See memo on presentations for
details). I will serve as the workshop "chairman" asking questions,
adding examples and provoking discussion.
In addition to presenting the paper, you and I will be responsible
for making up a couple of examples for the rest of the class to try
and turn in the following week. Examples may inolve Matlab or
Mathematica for numerical and symbolic analysis, respectively. You
will be responsible for checking the assignments, with my help. No
letter grade is to be assigned, but erroneous assignments will be
handed back for resubmission.
Schedule of papers and topics:
(All classes meet from 4:00-5:45pm in Terman 529).
1. Friday, June 28: Introduction & review of human versus
robotic grasp choice. (M. Cutkosky)
Readings
-
M. R. Cutkosky and R. D. Howe, "Human Grasp Choice and Robotic
Grasp Analysis," Chapter 1, Dexterous Robot Hands, S.T. Venkataraman
and T. Iberall, eds., Springer-Verlag, 1990.
- T. Iberall and C. L. MacKenzie, "Opposition Space and
Human Prehension," Chapter 2, Dextrous Robot Hands, S.T.
Venkataraman and T. Iberall, eds., Springer-Verlag, 1990.
- J. R. Napier, "The Prehensile Movements of the Human Hand,"
The Journal of Bone and Joint Surgery, Vol. 38B, No. 4, November,
1956, pp. 902-913.
Assignment:
Short assignment on issues from the first lecture + read Salisbury
selections for next week.
2. Monday, July 8: Basic grasp analysis. (A. West)
Grasp matrix formulation,
internal/external forces, unisense constraints. Body versus world
formulations. Different internal force specifications
Readings:
-
M. T. Mason and J. K. Salisbury, "Robot Hands and the
Mechanics of Manipulation," MIT Press, Cambridge, Mass.,
1985. Chapters 2, 4-7.
Assignment: Paper and Matlab assignments on grasp matrix formulation + read
grasp choice papers for next meeting.
3. Monday, July 15: Grasp choice algorithms I - transformations and
configurations. (M.Turner)
Readings:
-
Z. Li, and S. Sastry, "Issues in Dextrous Robot Hands,"
Chapter 8, Dextrous Robot Hands, S.T. Venkataraman and T. Iberall, eds.,
Springer-Verlag, 1990.
-
J. Kerr and B. Roth, "Analysis of Multifingered Hands," International
Journal of Robotics Research, Vol. 4. No. 4, 1986.
Assignment: Matlab assignment on grasp ellipsoid formulation.
4. Friday, July 19: Grasp choice algorithms II - grasping with friction
and internal forces. (M. Turner)
Readings:
- Revisit [Kerr and Roth 1986]
-
T. Yoshikawa and K. Nagai "Analysis of Multi-fingered Grasping
and Manipulation," Chapter 9, Dextrous Robot Hands, S.T. Venkataraman
and T. Iberall, eds., Springer-Verlag, 1990.
-
Y. Nakamura, K. Nagai, and T. Yoshikawa "Dynamics and stability in
coordination of multiple robotic mechanisms," International Journal of
Robotics Research, Vol. 8, No. 2. 1989.
Assignment: Matlab assignment on grasp optimization with friction + read
papers on rolling kinematics.
5. Friday July 26: Rolling kinematics. (C. Hasser)
Readings:
- Revisit [Li and Sastry 1990]
- D.J. Montana, "The Kinematics of Contact and Grasp," International Journal of
Robotics Research, Vol. 7., No. 3, 1988.
-
- A.E. Samuel, P.R. McAree and K.H. Hunt, "Unifying Screw Geometry
and Matrix Transformations," International Journal of
Robotics Research, Vol. 10., No. 5., 1991.
6. Friday Friday August 2: Object impedance control? Sliding?
to be continued...