Focuses on mechanics and technologies in object handling. Mechnical contacts among devices (grippers, hands, and fingers and so on) and operated objects are the key to robotic manipulation. Handling engineering will provide mechnical modeling techniques on contact, friction, impact, and deformation as well as technogogies for object handling including friction drive, remote center compliance, indirect simultaneous positioning, and visual sensing.

• Introduction: What is Handling Engineering
• Kinematics of Handling Processes
  • Contact States
  • Graph Representation of Contact State Transitions
• Deformation of Object Surface
  • Mechanical Impedance
  • Rheology Model
• Friction
  • Static Friction and Kinetic Friction
  • Friction Drive
  • Friction Cone
  • Friction Center
• Contact among Rigid Bodies
  • Kinematic Constraints in Planar Motion
  • Kinematic Constraints in Spatial Motion
  • Admissible Velocity Sets
  • Form Closure
  • Unidirectionality in Mechanical Contacts
• Grasping
  • Graspability and Stable Grasping
  • Force Closure
• Compliance
  • Stiffness Matrices
  • Compliance Center
  • SCARA and RCC
• Modeling of Deformable Objects
  • Lattice Modeling
  • Differential Geometry Method
  • Soft Fingers
• Handling of Deformable Objects
  • Indirect Simultaneous Positioning
  • Pinching Operation
• Vision-based Object Motion Sensing
  • Corelation Method
  • Contour Method
  • Hough Fourier Transform Method

• Calculating rheological deformation by Runge-Kutta method

• 2001 Final Exam.    2001 Midterm Exam.
• 2000 Final Exam.    2000 Midterm Exam.
• 1999 Final Exam.
• 1998 Final Exam.    1998 Midterm Exam.