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<!DOCTYPE html>
<html>
<head>
<title>Ch. 12 - Miscellaneous</title>
<meta name="Ch. 12 - Miscellaneous" content="text/html; charset=utf-8;" />
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<header>
<h1><a href="index.html" style="text-decoration:none;">Robotic Manipulation</a></h1>
<p data-type="subtitle">Perception, Planning, and Control</p>
<p style="font-size: 18px;"><a href="http://people.csail.mit.edu/russt/">Russ Tedrake</a></p>
<p style="font-size: 14px; text-align: right;">
© Russ Tedrake, 2020-2022<br/>
Last modified <span id="last_modified"></span>.</br>
<script>
var d = new Date(document.lastModified);
document.getElementById("last_modified").innerHTML = d.getFullYear() + "-" + (d.getMonth()+1) + "-" + d.getDate();</script>
<a href="misc.html">How to cite these notes, use annotations, and give feedback.</a><br/>
</p>
</header>
</div>
<p pdf="no"><b>Note:</b> These are working notes used for <a
href="http://manipulation.csail.mit.edu/Fall2022/">a course being taught
at MIT</a>. They will be updated throughout the Fall 2022 semester. <!-- <a
href="https://www.youtube.com/channel/UChfUOAhz7ynELF-s_1LPpWg">Lecture videos are available on YouTube</a>.--></p>
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<chapter class="appendix" style="counter-reset: chapter 2"><h1>Miscellaneous</h1>
<section id="cite"><h1>How to cite these notes</h1>
<p>Thank you for citing these notes in your work. Please use the following
citation:</p>
<pre><code class="language-bibtex">@book{manipulation,
title = "Robotic Manipulation",
subtitle = "Perception, Planning, and Control",
howpublished = "Course Notes for MIT 6.4210",
author = "Tedrake, Russ",
year = 2022,
url = "http://manipulation.mit.edu",
}</code></pre>
</section>
<section id="annotation"><h1>Annotation tool etiquette</h1>
<p>My primary goal for the annotation tool is to host a completely open
dialogue on the intellectual content of the text. However, it has turned out
to serve an additional purpose: it's a convenient way to point out my
miscellaneous typos and grammatical blips. The only problem is that if you
highlight a typo, and I fix it 10 minutes later, your highlight will persist
forevermore. Ultimately this pollutes the annotation content.</p>
<div>There are two possible solutions: <ul><li>you can make a public editorial comment, but must promise to delete that comment once it has been addressed.</li><li>You can <a href="https://hypothes.is/groups/Gn2rm56b/editorial">join my "editorial" group</a> and post your editorial comments <a href="https://web.hypothes.is/help/annotating-with-groups/#how-to-add-annotations-to-a-group">using this group "scope"</a>.</li></ul>
Ideally, once I mark a comment as "done", I would appreciate it if you can delete that comment.
</div>
<p>
I highly value both the discussions and the corrections. Please keep them coming, and thank you!
</p>
</section>
<section id="projects"><h1>Some great final projects</h1>
<p>Each semester students put together a final project using the tools from this class. So many of them are fantastic! Here is a small sample that captures some of the diversity.</p>
<p><b>Fall 2021:</b>
<ul>
<li><a href="https://www.youtube.com/playlist?list=PLkx8KyIQkMfUbHMSbSVTmCM63rICMdFNI">YouTube playlist</a> containing all projects that opted in.</li>
<li><a href="https://youtu.be/WzJJ4c6AqnE">Playing Piano with a Robotic Hand</a> by Seong Ho Yeon</li>
<li><a href="https://youtu.be/j5t2DlDHMoU">Table Cleaning through Task and Motion Planning with Force Control</a> by William Shen</li>
<li><a href="https://youtu.be/gNNZMLM_BrQ">RallyBot: Exploring Physics-Based Approaches to Robotic Table Tennis</a> by Dylan Zhou and Chaitanya Ravuri</li>
<li><a href="https://youtu.be/K5AZ-FLBamA">Robust Stacking of Convex Polytopes</a> by Richard Li and Gabriel Margolis</li>
<li><a href="https://youtu.be/dBZ0Sjx_Seo">Simulation of Discrete Lattice Robot Assemblies</a> by Miani Smith</li>
<li><a href="https://www.youtube.com/watch?v=szI8pAFz2Fo">Da Vinci Robot</a> by Maisy Lam and Jose A. Muguira</li>
<li><a href="https://youtu.be/P44_Z4UrmGA">Certifying Convex Decompositions of Free Configuration Space</a> by Alexandre Amice, Peter Werner, Annan Zhang</li>
<li><a href="https://youtu.be/SUmahiaY_b8">Robotic Arm Weightlifting via Trajectory Optimization</a> by Timur Garipov</li>
<li><a href="https://youtu.be/ttI-ixsw-D8">An Efficient Implementation of Pressure Field Models</a> by Vincent Huang, Franklyn Wang, Eric Zhang</li>
<li><a href="https://www.youtube.com/watch?v=BYsOT4MYqt0">Joint Perception and Manipulation System for Multi-Shape Peg-in-Hole Tasks</a> by Portia Gaitskell and Julia Wyatt</li>
</ul>
</p>
<p><b>Fall 2020:</b>
<ul>
<li><a href="https://www.youtube.com/watch?v=J-Jzbjs54eg">Solving Simple
Tiling Puzzles with an End-to-End Robotic System</a> by Anubhav Guha</li>
<li><a href="https://www.youtube.com/watch?v=J_EAgIfc4fk">Throwing in
Drake</a> by Daniel Yang and Tony Wang</li>
<li><a href="https://www.youtube.com/watch?v=m5UnMWihWC4">Robot
Juggler</a> by Ryan Shubert and Matt Beveridge</li>
<li><a href="https://www.youtube.com/watch?v=hKZeZbBZNOk">A Geometric
Approach to Recycling Cans via Vision-Based Manipulation</a> by Susan Ni
and George Chen</li>
<li><a href="https://www.youtube.com/watch?v=oBXmbfLuNVU">Interactive
Perception: Scene Segmentation Through Physical Perturbation</a> by Lukas
Lao Beyer and John Keszler</li>
<li><a href="https://www.youtube.com/watch?v=zVGuJjeQrdI&t=373s">William
Shakebot</a> by Carson Smithbot and Clemente Ocejo</li>
</ul>
</p>
</section>
<section id="feedback"><h1>Please give me feedback!</h1>
<p>I'm very interested in your feedback. The annotation tool is one
mechanism, but you can also comment directly on the YouTube lectures, or even
add issues to the <a href="https://github.com/RussTedrake/manipulation">github
repo</a> that hosts these course notes.</p>
<p>I will also post a proper survey questionnaire here once the notes/course
has existed long enough for that to make sense.</p>
</section>
</chapter>
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<div id="references"></div>
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<td style="width:33%;text-align:left;"><a class="previous_chapter" href=station.html>Previous Chapter</a></td>
<td style="width:33%;text-align:center;"><a href=index.html>Table of contents</a></td>
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<hr>
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<tr><td><a href="https://accessibility.mit.edu/">Accessibility</a></td><td style="text-align:right">© Russ
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