Lecture on Manipulation and Motion Nathan Ratliff Nov 28, 2016 - - PowerPoint PPT Presentation

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Lecture on Manipulation and Motion Nathan Ratliff Nov 28, 2016 - - PowerPoint PPT Presentation

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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

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SLIDE 1

Lecture on Manipulation and Motion

Nathan Ratliff

Nov 28, 2016

nathan.ratliff@lularobotics.com

Tuesday, November 29, 16

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SLIDE 2

Manipulation and Robot Motion

Tuesday, November 29, 16

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SLIDE 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

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SLIDE 4

Exploiting contacts in manipulation

  • Videos of mandy: Peter’s work

Manipulation

Pastor et al. 2013

Tuesday, November 29, 16

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SLIDE 5

Tuesday, November 29, 16

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SLIDE 6

Tuesday, November 29, 16

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SLIDE 7

Tuesday, November 29, 16

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SLIDE 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

slide-9
SLIDE 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

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SLIDE 10

The role of the metric

Configuration space metric

“Jacobian transpose”

Euclidean workspace metric

“Jacobian pseudoinverse”

Target

Tuesday, November 29, 16

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SLIDE 11

CHOMP

(Ratliff et al, 2009)

Tuesday, November 29, 16

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SLIDE 12

CHOMP

(Ratliff et al, 2009)

Tuesday, November 29, 16

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SLIDE 13

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SLIDE 14

Kalakrishnan et al. 2011

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SLIDE 15

Berkeley Trajopt 2010

Schulman et al.

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SLIDE 16

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SLIDE 17

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SLIDE 18

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SLIDE 19

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SLIDE 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