Human Centered Robotics

Contents and Program:

Introduction
- Differences Between Time-Driven Dynamics and Event-Driven Dynamics
Un-timed models of discrete event systems
- What are Discrete Systems
- Model of an Event-Driven Discrete System
Timed models of discrete event systems
Stochastic timed models of discrete event systems
Markov chains
Queuing theory
Markovian queuing networks

(They were written really fast, so they need to be re-written entirely, they follow the video-lectures)

Mathematics for Robotics
Psychophysics
Haptic Control
- HCR - Instability in Haptics
- HCR - Force Response for Haptic Control
IRL Objects to Triangular Meshes
Proxy Algorithm with Friction Cones
Transparency
Real World Problem
Discrete Time Approximation
Grasping vs Manipulation
Hand Jacobian
Searching for a Grasp Matrix with Infinte Solutions
Idea: ‘Green Robots’
- HCR - Green Robots
~Ex.: Calculate Controlled Forces
- HCR - Calculating the Controlled Forces
TODO:
- TODO HCR - Direct Kinematics (???)
- TODO HCR - Haptic Display (???)