Introduction to human and robotic hand grasping: control and manipulation
| Lecturer (assistant) | |
|---|---|
| Number | 0000001513 |
| Type | lecture |
| Duration | 2 SWS |
| Term | Summer semester 2025 |
| Language of instruction | English |
| Position within curricula | See TUMonline |
Admission information
Description
Inhalt (Content):
• Chapter 1: Introduction & Basic concepts
o Introduction to the course
o Power and precision grasp
o The friction cone
o The Grasp Matrix
o Manipulation is more than pick-and-place
o Open-world manipulation
o Model-based design and analysis
o Organization of these notes
• Chapter 2: robot hands
o Dexterous hands
o Simple grippers
o Soft/underactuated hands
o Other end effectors
o Sensors
o Putting it all together
• Chapter 3: Grasp modeling
o Object Kinematics
o Hand Kinematics
o Contact models
o Quasi-static model of the grasp
o Grasp properties
• Chapter 4: Grasp control
o A simple model(Direct) force control
o Force Control
o Hand Control
o Control of the object
o Limitations of the rigid-body assumption
o Indeterminate grasps
o Graspability
• Chapter 1: Introduction & Basic concepts
o Introduction to the course
o Power and precision grasp
o The friction cone
o The Grasp Matrix
o Manipulation is more than pick-and-place
o Open-world manipulation
o Model-based design and analysis
o Organization of these notes
• Chapter 2: robot hands
o Dexterous hands
o Simple grippers
o Soft/underactuated hands
o Other end effectors
o Sensors
o Putting it all together
• Chapter 3: Grasp modeling
o Object Kinematics
o Hand Kinematics
o Contact models
o Quasi-static model of the grasp
o Grasp properties
• Chapter 4: Grasp control
o A simple model(Direct) force control
o Force Control
o Hand Control
o Control of the object
o Limitations of the rigid-body assumption
o Indeterminate grasps
o Graspability
Prerequisites
Passion for human and robotic hands grasping, as well as some familiarity with mathematical foundations regarding linear algebra, differential equations, and control theory.
Additionally, participation in the following courses is recommended:
• Robotics I
• Motion Planning for manipulation
• Control Systems I
The interim exercises and final project will require solid knowledge of MATLAB and ROS.
Additionally, participation in the following courses is recommended:
• Robotics I
• Motion Planning for manipulation
• Control Systems I
The interim exercises and final project will require solid knowledge of MATLAB and ROS.
Teaching and learning methods
● Lectures (for direct transfer of theoretical knowledge)
● Exercises (for experimenting with various learned approaches)
● Home assignments (for preparing for the final project)
● Exercises (for experimenting with various learned approaches)
● Home assignments (for preparing for the final project)