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Lecture on Manipulation and Motion Nathan Ratliff Nov 28, 2016 nathan.ratliff@lularobotics.com Tuesday, November 29, 16 Manipulation and Robot Motion Tuesday, November 29, 16 Outline Intro Core Kinematics vs dynamics, planning vs

  1. Lecture on Manipulation and Motion Nathan Ratliff Nov 28, 2016 nathan.ratliff@lularobotics.com Tuesday, November 29, 16

  2. Manipulation and Robot Motion Tuesday, November 29, 16

  3. Outline • Intro • Core • Kinematics vs dynamics, planning vs control • Algorithmic consistency, some math, and an example • Anticipation: Motion optimization • Videos! Tuesday, November 29, 16

  4. Exploiting contacts in manipulation • Videos of mandy: Peter’s work Manipulation Pastor et al. 2013 Tuesday, November 29, 16

  5. Tuesday, November 29, 16

  6. Tuesday, November 29, 16

  7. Tuesday, November 29, 16

  8. Outline • Intro • Core • Kinematics vs dynamics, planning vs control • Algorithmic consistency, some math, and an example • Anticipation: Motion optimization • Videos! Tuesday, November 29, 16

  9. Outline • Intro • Core • Kinematics vs dynamics, planning vs control • Algorithmic consistency, some math, and an example • Anticipation: Motion optimization • Videos! Tuesday, November 29, 16

  10. The role of the metric Configuration space metric “Jacobian transpose” Euclidean workspace metric “Jacobian pseudoinverse” Target Tuesday, November 29, 16

  11. CHOMP (Ratliff et al, 2009) Tuesday, November 29, 16

  12. CHOMP (Ratliff et al, 2009) Tuesday, November 29, 16

  13. Tuesday, November 29, 16

  14. Kalakrishnan et al. 2011 Tuesday, November 29, 16

  15. Berkeley Trajopt 2010 Schulman et al. Tuesday, November 29, 16

  16. Tuesday, November 29, 16

  17. Tuesday, November 29, 16

  18. Tuesday, November 29, 16

  19. Tuesday, November 29, 16

  20. References • Math for Intelligent Systems lectures: • http://www.nathanratliff.com/pedagogy/mathematics-for- intelligent-systems • Especially Multivariate Calculus II. Homework 6 of the U. Stuttgart lectures is a tutorial on the material. • Advanced Robotics lectures: • http://www.nathanratliff.com/pedagogy/advanced- robotics • Especially Nonlinear Optimal Control: Reductions to Newton Optimization Tuesday, November 29, 16

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