Robotic-Manipulation-6.881
Assignment submissions for 6.881 - Robotic Manipulation Fall 2020
Pset 0
-
Manipulation Station setup in pydrake:
-
Reflected Inertia in robots:
Pset 1
-
Differential Inverse Kinematic Optimisation:
-
Introduction to Quadratic Programming in Drake:
-
Planar Manipulator:
-
Exercise of Rigid Transforms:
-
Robot Painter:
The robot painter following a key-points trajectory:
Pset 2
- Iterative Closest Point on Stanford Bunny:
Improving upon the estimated point cloud to match the actual point-cloud.
- Pose Estimation with Iterative Closest Point algorithm:
Removal of outliers and scene segmentation in point-clouds:
- RANSAC and Outlier removal in point clouds:
Removal of the table-plane point-cloud from the scene:
Pset 3
-
Analytical Antipodal Grasps for cycloidal gear:
-
Grasp candidate sampling using Darboux frames:
Computing grasp candidates for picking up the mustard bottle:
- Normal Estimation from depth images:
Pset 4
- Hybrid Force Position Control:
Hybrid force control to move a book:
- Label generation for Mask-RCNN:
Pset 5
- Door Opening:
Door opening with optimisation:
- Rapidly Exploring Random Trees for path planning:
Pset 6
-
Policy Gradients:
-
Stochastic Optimisation:
References:
Russ Tedrake. Robot Manipulation: Perception, Planning, and Control (Course Notes for MIT 6.881). Downloaded on 10th December 2020 from http://manipulation.csail.mit.edu/