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robotic manipulation -- mit

manipulation.csail.mit.edu · 3,856 words · saved by 1 readers

© Russ Tedrake, 2020-2024 Last modified 2024-9-8. How to cite these notes, use annotations, and give feedback. Note: These are working notes used for a course being taught at MIT. They will be updated throughout the Fall 2024 semester. It's worth taking time to appreciate just how amazing humans are when performing tasks with our hands. Tasks that often feel mundane to us -- loading the dishwasher, chopping vegetables, folding laundry -- remain as incredibly challenging tasks for robots and are at the very forefront of robotics research. Consider the problem of picking up a single plate from a stack of plates in the sink and placing it into the dishwasher. Clearly you first have to perceive that there is a plate in the sink and that it is accessible. Getting your hand to the plate likely requires navigating your hand around the geometry of the sink and other dishes. The act of actually picking it up might require a fairly subtle maneuver where you have to tip up the plate, sliding it a

Ch. 1 - Introduction Note: These are working notes used for a course being taught at MIT . They will be updated throughout the Fall 2024 semester. Lecture videos are available on YouTube .--> Table of contents Next Chapter Introduction It's worth taking time to appreciate just how amazing humans are when performing tasks with our hands. Tasks that often feel mundane to us -- loading the dishwasher, chopping vegetables, folding laundry -- remain as incredibly challenging tasks for robots and are at the very forefront of robotics research. Consider the problem of picking up a single plate from a

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