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Robotics II

Robotics II. Jeff Trinkle MRC 330c. Manipulation Planning State of the Art?. Human vs Robot. Grasping Novel Objects. Saxena - Cornell. More Manipulation Examples. Ram’s planner Kaneko’s hands http://www.k2.t.u-tokyo.ac.jp/index-e.html Koditschek’s HRex.

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Robotics II

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  1. Robotics II Jeff Trinkle MRC 330c

  2. Manipulation Planning State of the Art? • Human vs Robot

  3. Grasping Novel Objects • Saxena - Cornell

  4. More Manipulation Examples • Ram’s planner • Kaneko’s hands http://www.k2.t.u-tokyo.ac.jp/index-e.html • Koditschek’s HRex

  5. Real Factory Automation: Bottle Making

  6. Fixture plate holding pawl Human Meso-Scale Assembly with Jones and Kozlowsky (2004)

  7. Automated Meso-Scale Assembly • Insertion planned using: • LaValle’s Rapidly-Exploring Dense Trees (RDTs) • dVC for simulation http://www.robotics.cs.rpi.edu/dvc/ • Execution open loop • Closed-loop execution possible with detailed, pre-computed RDT with Cappelleri, et al. 2006

  8. Solving the Peg-in-Hole Problemwith dVC2d and RDT with Cappelleri, et al. 2006

  9. Analytical Design of Vibratory Manipulation • Manipulate small parts in parallel • Control gross motion with “asymptotic velocity fields” • Generated by periodic support surface trajectories that bias the net friction force Vose, Umbanhower, and Lynch, 2007

  10. Computational Design of Vibratory Manipulation with dVC3d • Six speakers coupled to plate generate desired plate vibration with Berard, Nguyen, and Anderson

  11. Surprising Intelligent? Autonomous Systems Dynamics Intermittent contact Nonholonomic constraints Nonlinear control

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