Autonomes Greifen

Topics

• Screw Theorie: Twists, Screws, Wrenches
• multi-fingered grasping: description and evaluation of grasps
• grasping strategies
• tactile sensors, tactile servoing

There is a (German) script available as well as some (German) notes taken in the lecture at WS 11/12 and some older English notes taken in the lecture at WS 02/03.

Performance requirements

Regular participation in the exercises (max. 2x unexcused absence) as well as the successful handling of the exercises are a prerequisite for registration for the oral examination. To this end you should have successfully worked on 50% of all the assignments. Participation and oral examination result in 5 LP.

Exercises:

• Blatt 0
• Blatt 1
• Orientation Programming Task
• Blatt 2
• URDF description task
• Blatt 3
• Blatt 4
• Blatt 5
• KDL Inverse Kinematics Task
• Blatt 6
• Blatt 7
• Blatt 8
• Blatt 9
• Blatt 10

Literature:

• A mathematical introduction to robotic manipulation Murray, Li, Sastry CRC Press, 1994
• Introduction to Intelligent Robotics Hermann Bruynincks, 2001
• Computational Principles of Mobile Robotics Gregory Dudek and Michael Jenkin
  Cambridge University Press, 2000
• The Robotics Review 2 Oussama Khatib, John J. Craig, and Tomas Lozano-Perez
  MIT Press, 1992
• Robot Motion Planning Jean-Claude Latombe
  Kluwer Academic Publishers, 1991
• Introduction to Robotics Phillip John McKerrow
  Addison-Wesley Publishing Company, 1991
• Robotics: Kinematics, Dynamics and Controls G.R. Pennock, editor
  The American Society of Mechanical Engineers,
• Fundamentals of Robotics - Analysis and Control Robert J. Schilling
  Prentice Hall, Englewood Cliffs, 1990
• Robot Dynamics and Control Mark W. Spong and M. Vidyasagar
  John Wiley and Sons, 1989
• Experience-Based Grasping
• Unsupervised Kernel Regression
• Goal Babbling
• Dynamic Movement Primitives
• Policy Improvement with Path Integrals
• Robot description using xacro and URDF
• planning with ROS MoveIt