Manipulation and Grasping
How robots pick up, hold and use objects: grippers, contact and friction, grasp analysis and planning, perception, force sizing, pick-and-place planning, dexterous, mobile and deformable manipulation, and a bin-picking capstone.
ROB-400 Year 4 3 credits 12 lessons · 6 h 19 min
Offered by HSM University · Robotics
This is the Canadian version of this course. See the American version.
What you'll learn
- Classify manipulation tasks and explain why perception, contact and uncertainty make manipulation difficult
- Compare parallel-jaw, multi-finger, suction, magnetic and soft end effectors and select one with a weighted matrix
- Apply contact models and Coulomb friction cones, including linearized cones and torsional friction, to grasp contacts
- Build a grasp matrix, distinguish force closure from form closure and interpret the epsilon grasp quality metric
- Generate and rank grasps with antipodal sampling, grasp databases and robustness sampling, with reachable approach and retreat
- Design a manipulation perception pipeline, including camera placement, segmentation, grasp detection and difficult materials
- Size gripper forces and suction cups from loads, accelerations, friction and safety factors without damaging objects
- Plan pick-and-place sequences with verification, recovery, placement stability, regrasping and task and motion planning
- Explain in-hand manipulation primitives, tactile slip control and when a dexterous hand is worth its cost
- Coordinate base and arm motion in mobile manipulation and build error budgets that justify re-perception
- Manipulate deformable and articulated objects, estimate joint models and evaluate learning-based policies
- Design, size and justify a complete bin-picking cell, including failure handling, Canadian or US safety requirements and acceptance testing
Course content
12 lessons · 6 h 19 min total · final exam
- 1 What manipulation is and why it is hard 33 min · quiz
- 2 End effectors and grippers 30 min · quiz
- 3 Contact mechanics and friction 33 min · quiz
- 4 Grasp analysis: the grasp matrix, force closure and form closure 36 min · quiz
- 5 Grasp synthesis and planning 31 min · quiz
- 6 Perception for manipulation 29 min · quiz
- 7 Sizing gripper and suction forces 32 min · quiz
- 8 Manipulation planning: pick-and-place, regrasping and task and motion planning 32 min · quiz
- 9 Dexterous and in-hand manipulation 32 min · quiz
- 10 Mobile manipulation 29 min · quiz
- 11 Deformable and articulated objects and learning-based manipulation 30 min · quiz
- 12 Capstone: designing a bin-picking cell 32 min · quiz
- E Final exam 20 questions
Requirements
Recommended background. You can start any course at any time.
Description
How robots pick up, hold and use objects: grippers, contact and friction, grasp analysis and planning, perception, force sizing, pick-and-place planning, dexterous, mobile and deformable manipulation, and a bin-picking capstone.
Part of the Science stream, typically taken in year 4.