Advanced Topics in Robotics
(Cross-listed: EECS 287/IEOR 290K)
Spring 2000
Professor:
Ken Goldberg
Lectures: MW 12:30-2:00, 310 Soda Hal
Web page: www.ieor.berkeley.edu/~goldberg
In this course we will study algorithms for robotics, including new
methods for motion planning, mobile robots, grasping, positioning and
assembly. Two important themes in current research are
completeness and minimalism. Through reading and
discussion of recent papers and student projects, we will explore a
variety of current research topics.
I will present several introductory lectures to provide common
background and we will study one paper in depth during each week.
Each student will explore a topic in depth, and also carry out a small-scale
research project, such as a software simulation or a mathematical model.
Projects for Spring 2000:
- Effect of Sensor and Control Noise on a Mobile Robot
by Jaime Garcia Alba
- Insertion Point Selection for Minimally Invasive Surgery
by Bobak Farzin
- Probabilistic Roadmap Planning for Laparoscopic Surgery
by Ika Handaja
- Randomness to Order: Path Planning Via Diffusion
by Alpay Kaya
- Grasping Parts at Concave Vertices
by Yong Liu
- Dextrous Micromanipulation using 2 1DoF Probes and a 3DoF Platform
by Jeff Thompson
- Probe Tip Assembly Motion Tolerances for Hinged Microstructures
by Richard Yeh
- Liftoff Conditions for Compensatory Grasping
by Tao Zhang
For more information contact
Ken Goldberg
goldberg@ieor.berkeley.edu,