CSE599J: Personal Robotics Clinic: Algorithms and Applications

CSE599J Readings

Personal Robotics Applications

Overview of personal robotics
"ROBOTS IN THE HOUSE!," Keenan Wyrobek, Leila Takayama. Download

Clothing manipulation
"Bringing Clothing into Desired Configurations with Limited Perception," Marco Cusumano-Towner, Arjun Singh, Stephen Miller, James F. O.Brien, Pieter Abbeel, ICRA 2011

Mobile manipulation

"Cart Pushing with a Mobile Manipulation System: Towards Navigation with Moveable Objects," Jonathan Scholz, Sachin Chitta, Bhaskara Marthi, and Maxim Likhachev. ICRA 2011
"Robots in Human Environments: Basic Autonomous Capabilities" O. Khatib, K. Yokoi, O. Brock, K. Chang and A. Casal. The International Journal of Robotics Research 1999

Algorithms

RRTs

"RRT Connect: An Efficient Approach to Single-Query Path Planning," Kuffner, LaValle, ICRA 2000
"Space-Filling Trees: A New Perspective on Incremental Search for Motion Planning," James J. Kuffner, Steven M. LaValle, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Dijstra's Algorithm
Graph Algorithms from a section of a textbook

Laplace planning
Path Planning Using Laplace's Equation, Connolly, Burns, Weiss, ICRA, 1990

Arm Kinematics

Forward: Spong Chap 3, Forward Kinematics, the Denavit-Hartenberg Convention
Inverse (Direct solution): Spong Chap 4, Inverse Kinematics
Inverse (Iterative Jacobian): "Overview of Damped Least-Squares Methods for Inverse Kinematics of Robot Manipulators," Arati S. Deo and Ian D. Walker, J. Intelligent and Robotic Systems, Kluwer 14: 43-68,1995

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