16-762: Mobile Manipulation (Spring 2024)
Course Info
Syllabus
Course Project Statement
Midterm Presentation Grading Rubric
Final Presentation Grading Rubric
Final Report Grading Rubric
Time: Monday & Wednesday 3:30 - 4:50 PM
Location: NSH 3002
Instructor: Zackory Erickson
Office Hours: Upon request
Course Questions and Discussion: Slack – Registered students will be added
Course Description
In this project-based course, you’ll learn about mobile manipulation through hands-on experience working with real mobile manipulators. You’ll gain experience with teleoperation, autonomy, perception, navigation, manipulation, and human-robot interaction, all within the context of mobile manipulators. You’ll also learn about robot design, collaborative research, and applications for mobile manipulators.
This is a graduate-level project-based course for students interested in mobile manipulation. There are no exams nor textbook assignments. You will be working with a group of your peers to develop solutions to real-world problems through the control of a mobile manipulator. There are two projects where you will work with real mobile manipulators and build on state-of-the-art methods from scientific literature, all leading to a video recording, live robot demonstration, presentation, and short paper to disseminate your results.
Pre-Requisites
Prior experience with the Python programming language is encouraged and extremely beneficial.
History and Example Projects
This course has been developed and inspired based on a prior project-based course on mobile manipulation for robotic caregiving, taught at CMU and Georgia Tech.
Examples of past mobile manipulation projects can be found on the following course webpage: 16-887: Robotic Caregivers and Intelligent Physical Collaboration (2023)
Credit
Earlier versions of this course were co-developed and co-instructed with Prof. Charlie Kemp at Georgia Tech. Early versions at Georgia Tech emphasized robotic caregiving through mobile manipulation: Robotic Caregivers.
