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Advanced Motion and Manipulation Techniques in Robotics and Media Technology

This course, led by Frank van der Stappen, focuses on the principles and applications of motion planning, manipulation, and geometric modeling in robotics and virtual environments. Key topics include kinematics, grasping techniques, collision detection, and path planning in complex scenarios. The program emphasizes both the theory and practical applications of motion in interactive media and robotics, exploring challenges in environments ranging from factories to dynamic virtual worlds. Students will engage in hands-on projects addressing grasping and manipulation issues, preparing them for future roles in this multidisciplinary field.

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Advanced Motion and Manipulation Techniques in Robotics and Media Technology

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  1. Motion and Manipulation 2012/2013 Frank van der Stappen Game and Media Technology

  2. Teacher Frank van der Stappen http://people.cs.uu.nl/frankst/ Office: Buys Ballotlaboratorium 422 phone: 030 2535093; email: A.F.vanderStappen@uu.nl Program leader for Game and Media Technology; MSc projects on grasping, manipulation, and path planning

  3. Context Robotics Games (VEs) Geometry

  4. Contents • Introduction • Robotics • Geometric Modelling • Motion • Kinematics Rotations, orientations, rigid transformations, screws, Plücker coordinates • Configuration Spaces • Collision Detection • Path Synthesis

  5. Contents • Manipulation • Kinematics for Linkages • Inverse Kinematics • Grasping • Non-prehensile Manipulation • Control and Sensing

  6. Basic Motion Planning Given a workspaceW, a robot Aof fixed and known shape moving freely in W, a collection of obstaclesBof fixed and known shape and location, W A B

  7. Basic Motion Planning and an initial and a final placement for A, find a path for Aconnecting these two placements along which it avoids collision with the obstacles from B [80s] Solution takes place in high-dimensional configuration space C

  8. Motion Planning with Constraints Non-holonomic systems: differential constraints [early 90s]

  9. Motion in Complex Environments Applications for logistics: assembly, maintenance [late 90s]

  10. Motion Planning with Many DOF Applications in virtual environments [early 00s]

  11. Motion in Games Natural paths for characters and cameras

  12. Motion in Games Simulation of individuals in crowds and small groups [Course by Roland Geraerts in 4th period]

  13. Motion in Games Animation Motion of virtual characters Facial animation [Course by Arjan Egges in 2nd period]

  14. Motions • User in a virtual environment: Collision detection • Autonomous entity: Path planning

  15. Manipulation: Arms • Kinematic constraints

  16. Linkages

  17. Linkages • VR Hardware

  18. Holding and Grasping

  19. Robotics and Automation Robotics and Automation involve physical world, geometry, algorithms, are multi-disciplinary. Robotics emphasizes unpredictable environments like homes, undersea, outer space. Automation emphasizes predictable environments like factories, labs.

  20. Assembly Lines: 100 Years ago

  21. Assembly Lines: 50 Years Ago Welding, spray painting

  22. Conventional Manipulation Anthropomorphic robot arms (accompanied by advanced sensory systems) performing pick-and-place operations.

  23. Anthropomorphic robot arms/hands + advanced sensory systems = expensive not always reliable complex control Conventional Manipulation

  24. RISC • ‘Simplicity in the factory’[Whitney 86]instead of‘ungodly complex robot hands’[Tanzer & Simon 90] • Reduced Intricacy in Sensing and Control[Canny & Goldberg 94] = • simple ‘planable’ physical actions, by • simple, reliable hardware components • simple or even no sensors

  25. Grand Challenge 1770: Interchangeable Parts 1910: Assembly Lines 20xx:Computer-Supported Design of Assembly Lines for Interchangeable Parts

  26. Manipulation Tasks • Fixturing, grasping • Feeding push, squeeze, topple, pull, tap, roll, vibrate, wobble, drop, … Parts Feeder

  27. Grasping and Fixturing

  28. Fundamental Problems in Immobilization Analysis: Does a given placement of fingers immobilize a part? Existence: How many fingers are necessary or sufficient to immobilize a part? Synthesis: Determine one/some/all placement(s) of the fingers such that a part is immobilized.

  29. Immobilization Form Closure: Analysis of Instantaneous Velocities [1870s] Force Closure: Analysis of Forces and Moments [1970s] 4 fingers sufficient for most 2D parts 7 fingers sufficient for most 3D parts 2nd Order Immobility: Mobility Analysis in Configuration Space [1990s] 3 fingers sufficient for most 2D parts 4 fingers sufficient for most 3D parts

  30. Immobilization Form Closure: Analysis of Instantaneous Velocities [1870s] Force Closure: Analysis of Forces and Moments [1970s] 4 fingers sufficient for most 2D parts 7 fingers sufficient for most 3D parts 2nd Order Immobility: Mobility Analysis in Configuration Space [1990s] 3 fingers sufficient for most 2D parts 4 fingers sufficient for most 3D parts

  31. Caging Three-finger grasp immobilizing grasp no immobilization, but caging

  32. Caging Rigid motion of the fingers forces part to move along

  33. Part Feeding Feeders based on various actions: push, squeeze, topple, pull, tap, roll, vibrate, wobble, drop, … Parts Feeder

  34. Fundamental Problems Given: class of parts, manufacturing task, type of physical actions. Analysis: What is the result of a (combination of) action(s) performed on a part? Existence: Does a combination of actions that accomplishes the task on the parts always exist? Synthesis: Determine one/some/all combination(s) of action(s) that accomplish(es) the task on the parts.

  35. Parallel-Jaw Grippers • Every 2D part can be oriented by a sequence of push or squeeze actions. • Shortest sequence is efficiently computable [Goldberg 93].

  36. Feeding with ‘Fences’ • Every 2D part can be oriented by fences over conveyor belt. • Shortest fence design efficiently computable[Berretty, Goldberg, Overmars, vdS 98].

  37. Sorting on Belts with Fences

  38. Feeding by Toppling • Shortest sequence of pins and their heights efficiently computable [Zhang, Goldberg, Smith, Berretty, Overmars 01].

  39. Vibratory Bowl Feeders

  40. Vibratory Bowl Feeders

  41. Vibratory Bowl Feeders • Shapes of filtering traps efficiently computable[Berretty, Goldberg, Overmars, vdS 01].

  42. Course Material • Reza N. Jazar, Theory of Applied Robotics, second edition, 2010, Chapters 1-6,13,15. Hardcopy approximately € 80. Readable online at Springer website. • Robert J. Schilling, Fundamentals of Robotics: Analysis and Control, 1990, Chapters 1 and 2 (partly). Copies available. • Matthew T. Mason, Mechanics of Robotic Manipulation, 2001. Price approximately € 50.

  43. Classes • Wednesday 15:15-17:00 in MIN-208. • Friday 09:00-10:45 MIN-208. • No classes: • Wednesday October 17. • Friday October 19.

  44. Exam Form • Written exam on the theory of motion and manipulation; weight 60%. • first chance: Friday November 7, 14:00-17:00 • second chance: Friday January 2, 14:00-17:00 • Summary report (> 10 pages of text) on assigned collection of papers; weight 40%. Deadline: Wednesday October 24, 17:00. • Additional requirments: • Need to score at least 5.0 for written exam to pass course. • Need to score at least 4.0 to be admitted to second chance

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