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Motion and manipulation

Website:website containing additional information
Course code:INFOMOMA
Credits:7.5 ECTS
Period:period 1 (week 36 through 45, i.e., 4-9-2017 through 10-11-2017; retake week 1)
Participants:up till now 54 subscriptions
Schedule:Official schedule representation can be found in Osiris
Teachers:Dit is een oud rooster!
lecture   Wed 15.15-17.0037 BBG-209 Frank van der Stappen
40 BBG-209
42-44 BBG-209
Fri 13.15-15.0036 BBG-161
37-44 BBG-214
tutorial          Ioannis Nemparis
week: 2Wed 9-1-201917.30-20.00 uurroom: RUPPERT-Dretake exam
Contents:Motion and manipulation are key issues in the field of robotics and automation, but they also play a major role in virtual environments and games. We will study models and planning problems for tasks that involve motion or manipulation. The course covers topics from kinematics, which studies motions without taking their causes into consideration. We will consider representations of rotations, orientations, and rigid transformations. Our study of manipulation concentrates on kinematic models for articulated structures such as arms, models for grasp analysis based on velocities and forces, and on simple non-prehensile forms of manipulation such as pushing.
Literature:Chapters from the book Theory of Applied Robotics by Reza N. Jazar, the no longer available book Fundamentals of Robotics: Analysis and Control by Robert J. Schilling, and some material from the books Mechanics of Robotic Manipulation by Matthew T. Mason and Collision Detection in Interactive 3D Environments by Gino van den Bergen.
Course form:Lectures by the teacher, a practical exercise, and homework exercises.
Exam form:Written test (60%), a practical exercise (20%), and two homework exercises (10% each). The grade for the written test as well as for the practical exercise must be at least 5 to pass.
Minimum effort to qualify for 2nd chance exam:A final grade of at least 4 is required to qualify for the 2nd chance exam.
Description:The course focuses on basic notions in robotics, geometric models, fundamental kinematics (rotations, orientations, rigid transformations), forward kinematics for articulated structures, inverse kinematics, configuration space formulation of problems involving motion, trajectory generation, sensing and control, collision detection, grasping (motion analysis, wrench analysis), and examples of non-prehensile forms of manipulation.