Instructors: Siddhartha Srinivasa (siddh -- cs.cmu.edu)
Lectures: M/W, 1:30-2:50, NSH 3002
This is an advanced graduate-level class on the theory and algorithms that enable robots to physically manipulate their world, on their own or in collaboration with people. The class will first focus on functional aspects of manipulation, such as synthesizing robust and stable grasps for dexterous hands, the geometry of manipulation configuration spaces, and motion planning in these space. Moving forward, we will discuss additional requirements that arise from performing manipulation tasks collaboratively with people: moving from functional to optimal motion, learning from demonstration, and coordination via understanding and expressing intent.
|1||M||Aug 31||Introduction||Creation Myths: The Beginnings of Robotics Research, Mason, IEEE RAM 19(2), 2012.
The Summer Vision Project, Papert, AIM, 1966. URL
|2||W||Sep 2||Configuration Space||Spatial Planning: A Configuration Space Approach, Lozano-Perez, 1980. PDF||Lecture|
|3||M||Sep 7||No class - CMU holiday|
|4||W||Sep 9||Manipulation Configuration Spaces||An Approach to Autonomous Robot Assembly, Koditschek, 1994. PDF||Lecture|
|5||M||Sep 14||Student Presentations||TBD|
|6||W||Sep 16||Grasp Planning||Grasping, Prattichizzo and Trinkle 2008. PDF||Lecture|
|7||M||Sep 21||Guest Lecture: TBD||TBD|
|8||W||Sep 23||Guest Lecture: TBD||TBD|
|9||M||Sep 28||Student Presentations||TBD||Lecture|
|10||W||Sep 30||Experimental Design|
|11||M||Oct 5||Student Presentations||TBD||Lecture|
|12||W||Oct 7||Grasping||Chapter 5 Multifingered Hand Kinematics, A Mathematical Introduction to Robotic Manipulation,
Murray, Li, Sastry, 1994.
The condition for contact grasp stability, Montana, ICRA 1991. PDF
|13||M||Oct 12||Student Presentations||TBD|
|14||W||Oct 14||Grasp Planning||Grasping, Prattichizzo and Trinkle 2008. PDF||Lecture|
|15||M||Oct 19||Student Presentations||TBD|
|16||W||Oct 21||Roadmaps||Analysis of Probabilistic Roadmaps for Path Planning, Kavraki, Kolountzakis, and Latombe, 1998. PDF||Lecture|
|17||M||Oct 26||Student Presentations||TBD|
|18||W||Oct 28||Single-query Planners||Path Planning in Expansive Configuration Spaces, Hsu, Latombe, and Motwani 1999.
Randomized Kinodynamic Planning, Lavalle and Kuffner 1999. PDF
|19||M||Nov 2||Student Presentations||TBD|
|20||W||Nov 4||Planning in Cost Spaces||Creating high-quality paths for motion planning, Geraerts and Overmars, 2007.
Approaches for Heuristically Biasing RRT Growth, Urmson and Simmons, 2003. PDF
Anytime RRTs, Ferguson and Stentz, 2006. PDF
Sampling-based algorithms for optimal motion planning, Karaman and Frazzoli, 2011. PDF
|21||M||Nov 9||Student Presentations||TBD|
|22||W||Nov 11||Trajectory Optimization 1|
|23||M||Nov 16||Student Presentations||TBD|
|24||W||Nov 18||Trajectory Optimization 2||CHOMP PDF
Spacetime Constraints PDF
|25||M||Nov 23||Student Presentations||TBD|
|26||W||Nov 25||No class - CMU holiday|
|27||W||Nov 30||Challenges of Collaborative Manipulation||MMP
|28||M||Dec 2||Student Presentations||TBD|
|29||W||Dec 7||Final Presentations 1||TBD|
|30||M||Dec 9||Final Presentations 2||TBD|