Robotics II: Lectures

Jan 13 - Introduction, self-test, self-test solution
Jan 16 - Install dVC
Jan 20 - Velocity Kinematics of Grasps - Handbook Chapter - notes, in-class grasping problem 1
Jan 23 - Kinematic Contact Models and Dynamics of Grasps - Handbook Chapter - notes (models), notes (dynamics)
Jan 27 - Grasp Properties - Handbook Chapter - notes, in-class grasping problem 1 soln
Jan 30 - Form Closure and Computational Tests - Handbook Chapter - notes, Matlab test code
Feb 3 - Force Closure and Computational Tests - Handbook Chapter - notes, Matlab test code, in-class grasping problem 2 soln
Feb 6 - Dynamics of Particle without Friction - notes
Feb 10 - Dynamics of a Particle with Friction - notes, in-class dynamics problem
Feb 13 - Dynamics of Rigid Body Systems - notes, in-class dynamics problem soln
Feb 17 - NO CLASS. TREATED AS MONDAY
Feb 20 - Rigid Body Dynamics: Painleve's Paradox - notes
Feb 24 - Discrete Planning - LaValle: Chapter 1 and Section 2.1 - Ch1 notes, Ch2 notes
Feb 27 - Review of Grasping and Dynamics
Mar 3 - MID-TERM EXAM - Grasping and Dynamics only
Mar 6 - Discrete Planning (continued) - LaValle: Section 2.2
Mar 9-13 - SPRING BREAK
Mar 17 - Geometric Representations and Transformations - LaValle: Sections 3.1-3.3, notes
Mar 20 - The Configuration Space - LaValle: Sections 4.1 - notes
Mar 24 - The Configuration Space (cont) - LaValle: Section 4.2 - In-class 1
Mar 27 - The Configuration Space (cont) - LaValle: Section 4.3 - In-class 2
Mar 31 - Sample-Based Motion Planning - LaValle: Sections 5.1-5.2 - notes
Apr 3 - Sample-Based Motion Planning (cont) - LaValle: Sections 5.3-5.4 - notes
Apr 7 - NO CLASS
Apr 10 - Sample-Based Motion Planning (cont) - LaValle: Sections 5.5-5.6 - notes
Apr 14 - Sample-Based Motion Planning (cont)
Apr 17 - Combinatorial Motion Planning - LaValle: Sections 6.1-6.2 - notes
Apr 21 - Combinatorial Motion Planning (cont) - LaValle: Section 6.3 - notes
......Also, Paper discussion: "Complementarity-based Dynamic Simulation for Kinodynamic Motion Planning"
Apr 24 - Paper discussion: "Multi-Environment Experiments and Simulation for Control of an Untethered magnetic Micro-Robot"
......Also, guest lecture ``Toward Humaniod Robots....,'' by Dr. Katsu Yamane, of Disney Research, Pittsburgh
Apr 28 - Project Presentations
Apr 30, May 1 - Reading Days
May 4 - FINAL EXAM, 3:00 - 6:00, Sage 2704
May 16 - COMMENCEMENT