Fall 1997 Class Schedule
Moday, 1 - 4 pm
405 Soda Hall
| August 25 | Introduction Class Overview: topics, papers Paper Presentation: Upper and Lower Bounds for Programmable Vector Fields with Applications to {MEMS} and Vibratory Plate Parts Feeders (K.-F. Böhringer, B. R. Donald, and N. C. MacDonald). Assignment: Read Latombe Robot Motion Planning Chapter 1. Read Brost, Goldberg A Complete Algorithm for Synthesizing Modular Fixtures for Polygonal Parts. Look at today's paper again. |
| September 1 | Labor Day (no class) |
| September 8 | Lecture: Introduction to Robotics: Workspace, free space, obstacle, path planning, configuration space, c-space obstacle, errors, uncertainty. Paper Discussion: Automatic Synthesis of Fine-Motion Strategies for Robots (Lozano-Pérez, Mason, Taylor). Assignment: Read Lavalle et al. Finding an Unpredictable Target in a Workspace with Obstacles. Look at textbook. Choose a paper for class presentation and think about a research project. |
| September 15 | Lecture: Path planning, roadmap methods, visibility graphs, Voronoi diagrams, fast polygon intersection, sweep line algorithm. Grasping, force and form closure, conditions for grasps, grasp synthesis. Assignment: Read Goldwasser and Motwani Complexity Measures for Assembly Sequences. Look at textbook. Choose a paper for class presentation if you have not done so, and write a short paragraph on a research project you would like to do. |
| September 22 | Paper Presentation: Brost and Goldberg A Complete Algorithm for Synthesizing Modular Fixtures for Polygonal Parts. Presented by Ken Goldberg and Karl Böhringer. Assignment: Read Lynch and Mason Stable Pushing: Mechanics, Controllability, and Planning. Akella, Huang, Lynch, Mason Sensorless Parts Feeding with a One Joint Robot. Look at textbook (part II). |
| September 29 | Paper Presentation: Lynch and Mason Stable Pushing: Mechanics, Controllability, and Planning . Presented by Dadi Gudmundsson. Assignment: Read Mirtich and Canny Impulse-based Dynamic Simulation, Halperin and Sharir Arrangements and Their Applications in Robotics: Recent Developments. |
| October 6 | Paper Presentation: Lynch and Mason Stable Pushing: Mechanics, Controllability, and Planning (Part II). Presented by Dadi Gudmundsson. Includes an introduction to Lie Algebras. Assignment: Read Mirtich and Canny Impulse-based Dynamic Simulation, Halperin and Sharir Arrangements and Their Applications in Robotics: Recent Developments. Prepare a one-page summary of your class project. |
| October 13 | Special Guest Lectures:
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| October 20 | Paper Presentation: Mirtich and Canny Impulse-based Dynamic Simulation, Halperin and Sharir Arrangements and Their Applications in Robotics: Recent Developments. Presented by David Parks. Assignment: Read Murray and Sastry Nonholonomic Motion Planning: Steering Using Sinusoids. |
| October 27 | Paper Presentation: Murray, Sastry Nonholonomic Motion Planning: Steering Using Sinusoids. Presented by Dan Reznik. Assignment: Read Langier, Bard, Cherif, Joukhadar Solving Complex Motion Planning Problems by Combining Geometric and Physical Models: The Case of a Rover and of a Dexterous Hand. Prepare a short update (one page minimum) on your class project to be presented on November 10. |
| November 3 | Paper Presentation: Langier, Bard, Cherif, Joukhadar Solving Complex Motion Planning Problems by Combining Geometric and Physical Models: The Case of a Rover and of a Dexterous Hand. Presented by Darin Fisher. Assignment: Read Latombe, Wilson, Cazals Assembly Sequencing with Toleranced Parts. Prepare a short update (one page minimum) on your class project. |
| November 10 |
Short updates on class projects (10 min each).
Paper Presentation: Latombe, Wilson, Cazals Assembly Sequencing with Toleranced Parts. Presented by Jingliang Chen. Assignment: Read Lavalle, Lin, Guibas, Latombe Finding an Unpredictable Target in a Workspace with Obstacles and Moradi, Goldberg, Lee, Wilson Geometry-Based Part Grouping for Assembly Planning. |
| November 17 | Paper Presentation: Lavalle, Lin, Guibas, Latombe Finding an Unpredictable Target in a Workspace with Obstacles, and Moradi, Goldberg, Lee, Wilson Geometry-Based Part Grouping for Assembly Planning. Presented by Joe Lynch. |
| November 24 | Special Presentation: Wolfgang Zesch Manipulation of Microscopic Objects with Nanometer Precision Research Project Presentations: - Dan Reznik Vibrations-Based Part Manipulation in the Plane with Sinusoidal Controls - Jingliang Chen Fence Feeding with Toleranced Parts |
| December 1 | Research Project Presentations: - Joe Lynch Advances in Assembly Grouping - Darin Fisher Potential Field Methods with Moving Obstacles |
| December 8 | Encore Class - Research Project Presentations: - David Parks Control and Path Planning for Elastic Bodies - Dadi Gudmundsson Estimating and Optimizing Throughput of a Flexible Feeder Project reports due: 6-page 2-column conference-style paper. |
For more information contact
goldberg@ieor.berkeley.edu,
643-9565 or karl@ieor.berkeley.edu,
642-4559
http://alpha.ieor.berkeley.edu/cs294