Topics in Multi-Limbed Manipulation

Course covers fundamental topics in manipulation with fingers or locomotion with multiple legs. Starting topics include: mobility, manipulability, contact kinematics, force closure, nonholonomic constraints. We branch into topics based on student interest such as automated grasp choice, quasistatic sliding manipulation, locomotion with friction or adhesion. Students will have one or two readings each week and will meet with instructor to prepare leading the discussion and developing exercises for the next week. Exercises can be numerical or symbolic.