Robotic Manipulation (MIT Course)¶
This module covers the MIT 6.8210 course on Robotic Manipulation, taught by Russ Tedrake.
Course Overview¶
- Instructor: Russ Tedrake (MIT CSAIL)
- Source: manipulation.csail.mit.edu
- Framework: Drake
- Focus: Perception, Planning, and Control for robot manipulation
Topics Covered¶
Fundamentals¶
- Introduction - Course overview and motivation
- Robot Hardware - Arms, grippers, sensors
- Pick and Place Basics - Kinematics for manipulation
Perception¶
- Pose Estimation - Geometric pose estimation
- Bin Picking - Grasping in clutter
- Deep Perception - CNN-based perception
Planning¶
- Motion Planning - Trajectory optimization, RRT, GCS
- Task Planning - State machines, behavior trees
Control¶
- Trajectory Tracking - Position and force control
- Hybrid Control - Position/force hybrid strategies
Learning¶
- Reinforcement Learning - RL for manipulation tasks
Prerequisites¶
- Linear Algebra
- Control Theory basics
- Python programming
- (Recommended) Robotics Basics
Software Setup¶
This course uses the Drake robotics framework. See the Installation Guide for setup instructions.
Course Projects¶
- Basic pick-and-place pipeline
- Vision-based bin picking
- Learning-based grasping
