University of Pennsylvania
School of Engineering and Applied Science
Department of Mechanical Engineering
MEAM 620: Robotics and Motion Planning
Spring 2007
Table of Contents
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General Information
Meam 620 is a graduate level course in robotics, focusing
on robot kinematics and motion planning. The first part of this course will
cover kinematics from a differential geometric viewpoint. In the second and
third parts of this course, students will also learn to use and develop
algorithms to solve motion planning problems. This course is open to all
engineering graduate students. Undergraduate and masters students should visit http://www.seas.upenn.edu/~cse390.
A more detailed description of the course is available here.
Announcements
1. HW 6 is online and due Apr. 11, 2007
2. Project presentations are on April 16 & 18. Presentation order will be announced
3. Project review is on April 4
4. HW 5 is online and due on Mar. 26, 2007
5. Two lectures in the week of Feb. 26-Mar. 2 will be given by Savvas.
6. Programming assignment 2 is available and due on Mar. 16, 2007.
7. Programming assignment 1 is online (see "Assignments/Homeworks" section) and due on Mar. 1, 2007.
8. A half page course project proposal is due on Mar. 1, 2007.
9. HW 2 is online and due on Feb. 19, 2007.
10. No class on Jan 15 because of the Dr. Martin Luther
King holiday.
11. HW1 is now due on Jan 29, 2007 instead of Jan 22,
2007.
12. HW1 is online. Access a pdf version here along with the data files for Problem 3.
13. Access references for the
course here
using the username and password emailed to you earlier.
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Time and Location:
Monday & Wednesday, 1:30 – 3:00 pm, Towne 303
Instructors
Dr.
Sachin Chitta, Lectures 1-7 Office:
Levine 403, Email: sachinc@grasp.upenn.edu
Dr.
Dr. Savvas Loizou, Lectures 17-23 Office:
Levine 465, Email:
sloizou@seas.upenn.edu
Ethan
Stump, Lectures 8, 16 Office: TBA, Email: etsump@seas.upenn.edu
Office
Hours
Mondays
3-4 pm, Thursdays 3-4 pm in Levine 457 or e mail the instructor for an
appointment.
Text
[MLS
94] Murray, R., Li, Z. and Sastry, S., A mathematical
introduction to robotic manipulation. CRC Press, 1994. Comments: A group
theoretic and differential geometric approach to robot kinematics and dynamics.
[LaValle 05] LaValle, S., Planning
Algorithms.
References
[1] Craig, J., Introduction
to Robotics: Mechanics and Control, Addison-Wesley, Reading , MA
[2] Mason, M. and Salisbury
[3] McCarthy, J.M.,
Introduction to Theoretical Kinematics, M.I.T. Press, 1990. Comments: The most
readable account of theoretical kinematics. Moderately priced.
[4] Spong,
M. W. and Vidyasagar, M., Robot dynamics and control.
J. Wiley, 1989. Comments: A good text for robot control.
[5] Strang,
G., Linear algebra and its applications. Academic press, 1980. Comments: A
basic book on linear algebra. If you don't know this material, you might have
trouble in this course.
[6] Handbook of Industrial
Robotics, Ed. S. Nof, 1999.
Comments: A comprehensive reference to the latest work and the state of the art
in robotics research and practice.
[7] Paul, R., Robot
Manipulators, Mathematics, Programming and Control, The MIT Press, Cambridge
[8] H. Choset,
K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L.
E. Kavraki and S. Thrun,
Principles of Robot Motion: Theory, Algorithms, and Implementations, MIT Press,
Boston
[9] Jean-Paul Laumond (Editor), Robot Motion Planning and Control,
Springer, 1998.
[10] J.C. Latombe, Robot Motion Planning, Kluwer
Academic Publishers, Boston, MA, 1991.
(return to top - MEAM 620
TOC)
Course Information
Course Description
This course deals with the robot kinematics
and motion planning. After this class, people will be expected to use and
develop algorithms to solve motion planning problems. See tentative schedule.
Students are expected to have a basic
background in physics and must have had basic courses in algorithms,
ordinary differential equations, linear algebra and multivariable calculus. We
expect students from diverse background, but with a basic level of mathematical
maturity. In addition, some familiarity with one of the topic areas:
robotics, dynamics, control, vision or graphics is expected.
Lectures
will be complemented by discussions and presentations by the students in the
class. These discussion sessions will help in problem solving.
Tentative Schedule
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No. |
Date |
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Topics |
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Lec. 1 |
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[MLS 94], Chapter 2 |
Introduction to kinematics, Rigid body motion, Rotations, SO(3), Euler's theorem,exponential map. |
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Lec. 2 |
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[MLS
94], Chapter 2 |
Homeogeneous transformation matrices, SE(3), Twists,
Exponential map from se(3) to SE(3). |
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Lec. 3 |
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[MLS 94], Chapter 2 |
Twists, Chasles theorem, Screw theory. |
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Lec. 4 |
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[MLS 94], Chapter 2 |
Velocity analysis |
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Lec. 5 |
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[MLS
94], Chapter 3 |
Inverse Kinematics |
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Lec. 6 |
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[MLS 94], Chapter 3 |
Manipulator Jacobian |
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Lec. 7 |
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[MLS 94], Chapter 3 |
Wrenches and reciprocal screws, Visual servoing, Parallel manipulators - cable manipulator |
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Lec. 8 |
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TBA |
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Lec. 9 |
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[LaValle 05], II-Overview |
Overview of motion planning: motivation, application, general algorithm principle |
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Lec. 10 |
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[LaValle 05], II-Chapter 4 |
Configuration space - I: concept, examples of configuration space, mathematical representation, parameterization |
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Lec. 11 |
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[LaValle 05], II-Chapter 4 |
Configuration space - II: representation of shape of robots, computation of configuration space obstacles, abstraction of path planning problems |
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Lec. 12 |
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[LaValle 05], I-Chapter 2 |
Discrete planning overview: problem formulation, discrete search methods, discrete optimal planning |
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Lec. 13 |
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[LaValle 05], II-Chapter 6 |
Combinatorial planning algorithms - I : visibility-based complete planning, simplicial complex decomposition |
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Lec. 14 |
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[LaValle 05], II-Chapter 6 |
Combinatorial
planning algorithms - II: cylindrical decomposition methods, Canny's algorithm |
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Lec. 15 |
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[LaValle 05], II-Chapter 5 |
Sampling-based path planning algorithms: basic concepts and methods in configuration space sampling, common sampling sequences, sampling-based algorithms |
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Lec. 16 |
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TBA |
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Lec. 17 |
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[LaValle 05], II-Chapter 7 |
Extensions of the Basic Motion Planning Problem |
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Lec. 18 |
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[LaValle 05], II-Chapter 8 |
Planning in discrete state spaces |
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Lec. 19 |
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[LaValle 05], IV-Chapter 13 |
Planning with differential constraintsVelocity constraints, Phase space representations |
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Lec. 20 |
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[LaValle 05], IV-Chapter 15 |
Stability, Lyapunov methods, controllability |
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Lec. 21 |
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[LaValle 05], II-Chapter 8 |
Feedback motion Planning Vector fields on R^n, Smooth Manifolds |
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Lec. 22 |
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[LaValle 05], II-Chapter 8 |
Complete methods for continuous spaces, Acceleration based control,velocity/acceleration constraints, Harmonic Potential functions |
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Lec. 23 |
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[LaValle 05], II-Chapter 8 |
Navigation Functions (Rimon-Koditschek) |
Schedule
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No |
Date |
Topics |
Material |
Comments |
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1. |
Jan 8, 2007 |
Introduction, Rotations |
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2. |
Jan 10, 2007 |
Rotations – exponential formulation, Euler’s theorem, Homogeneous transformations – composition, similarity transformation |
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9. |
Jan 10, 2007 |
Introduction of Motion Planning |
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Feb 26, 2007 |
Extensions of the Basic Motion Planning Problem |
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Feb 28, 2007 |
Navigation Functions |
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Assignments/Homeworks
1.
There will be three homeworks
for every 8 lectures. Homework assignments will be posted on the web site. Reading
2.
All students will be required to do a
term paper/project. This will involve independent research (for example, read
and critique one or more journal articles on material that is relevant to the
class). Original work will be encouraged and suitably rewarded.
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Homeworks |
Problems |
Due dates |
Solutions |
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Data for Problem 3, Part 1 (littledog_accel.txt) Data for Problem 3, Part 2 (littledog_gyro.txt) |
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Jan 29, 2007. |
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Feb 19, 2007. |
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Mar 1, 2007. |
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Mar 16, 2007. |
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Mar 26, 2007 |
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Apr 11, 2007 |
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Grading Policy
The
tentative grading policy is as follows:
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Homeworks |
60% |
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Project |
40% |
Projects
Project work for research track
Examples
1.
Survey of different methods for
representing rigid body rotations and translations (e.g., quaternions plus vectors, homogeneous transforms) from the
point of view of robot kinematic transformations.
2.
Survey of motion planning
algorithms: scientific basis, methodology, algorithms, and
implementations.
Resources
NOTE:
A few pages require the use of Adobe Acrobat Reader in order to view the material.
You may download a FREE copy from the Adobe web site by clicking on the Adobe
icon above.
Notes
See
http://www.seas.upenn.edu/~meam520/notes02/
Maple code
Links
Robotics Links
1.
Bookmarks
2.
Service Industry
3.
Manufacturing
4.
Research Labs
5.
Medical Robotics
6.
Humanoid Robots
7.
Other useful robotics links
Under
construction..... Please send me links that you'd like to see here.
Other Useful Links
1.
Penn Online
Directory
2.
Penn
Libraries Homepage
Maintained
by meam620@seas.upenn.edu