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\title{1.  Goals and philosophy}
\subtitle{ Mechanics of Manipulation}
\author{Matt Mason}
\institution{Carnegie Mellon}
\email{matt.mason@cs.cmu.edu \\
http://www.cs.cmu.edu/\symbol{"7E}mason}
\slideCaption{Lecture 1. \hfill Mechanics of Manipulation }

\begin{document}

\maketitle

%=======================================================================
% 
% SLIDE 2.  Course content
%
\overlays{3}{%
\begin{slide}[Dissolve]{Course content}
\vspace{-1cm}

\begin{itemize}
\item How does manipulation work?
%
    \begin{itemize}
    \item Kinematic manipulation
       \begin{itemize}
       \item Kinematics
       \item Kinematic representation
       \item Applications to manipulation: \\
                 Motion planning; kinematic models of contact.
      \end{itemize}
\fromSlide{2}{%
    \item Static and quasistatic manipulation
      \begin{itemize}
      \item Rigid body statics
      \item Friction
      \item Applications to manipulation: \\
                Grasping, fixtures, pushing, parts orienting.
      \end{itemize}}
\fromSlide{3}{%
    \item Dynamic manipulation
      \begin{itemize}
         \item Rigid body dynamics
         \item Impact
         \item Applications to manipulation: \\
                Quasidynamic parts orienting, juggling.
      \end{itemize}}
    \end{itemize}
\end{itemize}
\end{slide}}

%=======================================================================
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%  SLIDE 3:  Why?
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%

\overlays{5}{%
\begin{slide}[R]{Why?}
\PDFtransition{Dissolve}
\begin{itemize}
\item Scientific curiosity.
       \begin{itemize} \item[]
           We want to know how manipulation works.
       \end{itemize}
\fromSlide{2}{%
\item To build robots.
       \begin{itemize}
       \item[]
          Use engineer's knowledge of how manipulation works.
\fromSlide{3}{%
       \item[]
          Is it even possible to \emph{not} have such a model?
}%
       \end{itemize}
}%
\fromSlide{4}{%
\item
          To build model-based autonomous robots.
          \begin{itemize}
          \item[]
            Use \emph{robot's} knowledge of how manipulation works.
\fromSlide{5}{%
           \item[]
           Is it even possible to \emph{not} \ldots?  Perhaps an implicit model?
}%
          \end{itemize}
}%
\end{itemize}
\end{slide}}

%=======================================================================
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% SLIDE 4
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%

\overlays{3}{%
\begin{slide}[R]{Why build model-based robots?}
\begin{itemize}
  \item Maybe you should not.
  \begin{itemize}
  \item[] 
  For many tasks, you can build a robot based on your own
  knowledge of the mechanics of manipulation.  Don't underestimate 
  ad hoc engineering based on human intuition and experience.
  \end{itemize}
\fromSlide{2}{%
  \item Sometimes engineers should $\ldots$
  \begin{itemize}
  \item[]
  So the robot can try things out in its head instead of the real world.  (Daniel Dennett)
  \end{itemize}%
}%
\fromSlide{3}{%
  \item Sometimes scientists should $\ldots$
  \begin{itemize}
  \item[]
  As a properly skeptical scientist, how do you show that some
  phenomenon is critical in a given task?  That you have properly modeled
  that phenomenon?
  \end{itemize}%
}%
\end{itemize}
\end{slide} }

%=======================================================================
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% SLIDE 5
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\begin{slide}[R]{Course organization}
\begin{itemize}
\item  Lectures:  MW 1:30 -- 2:50.  Five minute break.
\item  Textbook:  \emph{Mechanics of Robotic Manipulation}, MIT Press, 2001.
\item  Conflict of interest:  let's spend my royalties.
\item  Grading:
\begin{enumerate}
  \item Assignments.  Probably just four or so.
  \item Term project.  Spend 20-40 hours.  Proposal.  Report.
  \item Final.
\end{enumerate}  
\end{itemize}
\end{slide}

%=======================================================================
%
% SLIDE 6
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%

\begin{slide}[R]{What is manipulation?  First example:  human.}
\begin{center}
\includegraphics[height=2.5in]{cards.eps}
\end{center}
\end{slide}


%=======================================================================
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% SLIDE 7
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%
\begin{slide}[R]{What is manipulation?  Second example:  robotic.}
\begin{center}
\movie{0.9 \linewidth}{0.6\linewidth}{SmartAssy.mov}
\end{center}
\end{slide}


%=======================================================================
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% SLIDE 8
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\begin{slide}[R]{What is manipulation?  Second example:  robotic.}
\begin{center}
\movie{0.9 \linewidth}{0.6\linewidth}{SmartOrientWhite.mov}
\end{center}
\end{slide}

%=======================================================================
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% SLIDE 9
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%

\begin{slide}[R]{What is manipulation?  Second example:  robotic.}
\begin{center}
\includegraphics[height=2.5in]{parts_or}
\end{center}
\end{slide}

%=======================================================================
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% SLIDE 10
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\begin{slide}[R]{What is manipulation?  Second example:  robotic.}
\begin{center}
\includegraphics[height=2.5in]{pickup_p}
\end{center}
\end{slide}

%=======================================================================
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% SLIDE 11
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\begin{slide}[R]{What is manipulation?  Second example:  robotic.}
\begin{center}
\includegraphics[height=2.5in]{place_pa}
\end{center}
\end{slide}

%=======================================================================
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% SLIDE 12
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%
\overlays{8}{
\begin{slide}[R]{What is manipulation?  Compare and contrast.}
\begin{itemize}
\item
        What are the common elements?
\fromSlide{2}{%
\item
        What are the differences?
}
\fromSlide{3}{%
\item
        To design a SMART Cell application, what problems need to
          be solved?
}
\fromSlide{4}{%
\begin{itemize}
\item
        \emph{Design the product!!!}
\fromSlide{5}{%
\item
        Design the APOS trays and vibrations.
}
\fromSlide{6}{%
\item
        Design the gripper.
}
\fromSlide{7}{%
\item
        Design the pick and place motions.
}
\fromSlide{8}{%
\item
        There's probably a lot more $\ldots$
}
\end{itemize}
}
\end{itemize}
\end{slide}
}

%================================================================
%
% SLIDE 14
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%

\begin{slide}[R]{What is manipulation?  Example 3:  Viki.}
\begin{center}
\movie{0.9\linewidth}{0.6\linewidth}{Viki7_Viki4.mov}
\end{center}
Hayes, K. C., and Hayes, C. Journal Comp. Physiol. Psychol. 45 450. 1952.\\
from epsych.msstate.edu
\end{slide}

%================================================================
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% SLIDE 15
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\begin{slide}[R]{What is manipulation?  Example 3:  Viki.}
\begin{center}
\movie{0.9\linewidth}{0.6\linewidth}{Viki14_Viki4.mov}
\end{center}
\end{slide}

%================================================================
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% SLIDE 16
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%

\begin{slide}[R]{What is manipulation?  Example 3:  Viki.}
\begin{center}
\movie{0.9\linewidth}{0.6\linewidth}{Viki3_Viki3.mov}
\end{center}
\end{slide}

%================================================================
%
% SLIDE 17
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%

\begin{slide}[R]{What is manipulation?  Example 3:  Viki.}
\begin{center}
\movie{0.9\linewidth}{0.6\linewidth}{Viki4_Viki3.mov}
\end{center}
\end{slide}

%================================================================
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% SLIDE 18
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%

\begin{slide}[R]{What is manipulation?  Example 3:  Viki.}
\begin{center}
\movie{0.9\linewidth}{0.6\linewidth}{Viki5_Viki4.mov}
\end{center}
\end{slide}

%================================================================
%
% SLIDE 19
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%

\begin{slide}[R]{What is manipulation?  Example 3:  Viki.}
\begin{center}
\movie{0.9\linewidth}{0.6\linewidth}{Viki8_Viki4.mov}
\end{center}
\end{slide}

%================================================================
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% SLIDE 20
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\begin{slide}[R]{What is manipulation?  Example 3:  Viki.}
\begin{center}
\movie{0.9\linewidth}{0.6\linewidth}{Viki9_Viki3.mov}
\end{center}
\end{slide}

%================================================================
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% SLIDE 21
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\begin{slide}[R]{What is manipulation?  Example 3:  Viki.}
\begin{center}
\movie{0.9\linewidth}{0.6\linewidth}{Viki15_Viki3.mov}
\end{center}
\end{slide}

%================================================================
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% SLIDE 22
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\begin{slide}[R]{What is manipulation?  Example 3:  Viki.}
\begin{center}
\movie{0.9\linewidth}{0.6\linewidth}{Viki26_Viki4.mov}
\end{center}
\end{slide}

%================================================================
%
% SLIDE 23
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%

\begin{slide}[R]{What is manipulation?  Example 4:  Chimps.}
It is a little daunting to discover---on the very technological grounds
on which human superiority is often claimed---that after months of
apprenticeship, human scientists cannot do as well as preadolescent
chimps. Teleki remained generous and good-natured about his
failure. In the acknowledgments at the end of the paper, among thanks
to various organizations for financial and logistical support, there
appears this sentence: "I am, in addition, more than grateful to the
patient and tolerant Leakey, whose termite-collecting skills so
out-stripped mine."\\
\quad \quad---http://www.mc.maricopa.edu/dept/d10/asb/primates/termiting.html
\end{slide}

%================================================================
%
% SLIDE 24
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%

\begin{slide}[R]{What is manipulation?  Example 3:  Viki.}
\begin{center}
\movie{0.9\linewidth}{0.6\linewidth}{Viki1_Viki4.mov}
\end{center}
\end{slide}



\end{document}

