Robotic Dexterity: Principles and Practice

Catalog description

This course covers fundamental principles of robotic dexterous manipulation, including kinematics, manipulator and gripper control, motion planning, contact modeling, and grasp stability. It explores robotic perception (vision and tactile) and advanced machine learning techniques (reinforcement learning and learning from demonstration). Students will apply these concepts in a hands-on group project using robotic manipulators for complex tasks. Homework assignments with both analytical and coding components will reinforce the concepts learned in class. Students should feel comfortable in Python and Linux (dual booting on a personal computer may be necessary for some assignments).