|Teoria||4||II semestre||Paolo Fiorini|
|Laboratorio||2||II semestre||Gerolamo Fracastoro, Gerolamo Fracastoro|
|Teoria||Monday||11:30 AM - 1:30 PM||lesson||Lecture Hall I|
|Teoria||Thursday||2:30 PM - 4:30 PM||lesson||Lecture Hall I|
|Laboratorio||Tuesday||2:30 PM - 4:30 PM||lesson||Laboratory Alfa||from Apr 3, 2012 to Jun 15, 2012|
|Laboratorio||Tuesday||4:30 PM - 7:30 PM||lesson||Laboratory Alfa|
|Laboratorio||Tuesday||4:30 PM - 7:30 PM||lesson||Lecture Hall F|
The objective of this course is to give students the basic concepts of "physical" (haptic) and physical-visual interaction between a computerized system, such as a robot and/or a vehicle, and its surrounding environment. The robot and/or the vehicle can be in direct contact with a human operator, or they can be at a large distance. Several real systems belong to this specific situation, such as teleoperation systems, tele-driving systems, rheabilitation systems and surgical robots, just to mention a few.
In this course, we will set the theoretical basis of haptic and haptic-visual interaction between an operator, a computerized system and an environment. More advanced topics will be addressed in the course "Robotics". This course will consist of two main sections.
In the first part of the course, we will address the basic methods for the interaction analysis of haptic devices and robotic vehicles with their environment and with the operator, including basic concepts of kinematics and dynamics. Furthermore, we will define the basic equations for the control of haptic devices and for planning their motion.
During the second part of the course, more specific topics related to non-visual interaction will be addressed, with specific reference to mono and bi-lateral teleoperation systems. We will discuss a few mathematical models of teleoperation systems and derived the main stability and transparency conditions for such systems in the case of communication without time delay. We will also address the basic concept of interaction quality by using psychophysics experiments with haptic and haptic-visual systems.
- Introduction to the course: motivation and state of the art.
- Planar and spatial kinematics.
- Mathematical representation of translations and rotations.
- Denavit-Hartenberg convention.
- Direct, inverse and differential kinematics of haptic devices.
- Kinematics of wheeled vehicles.
- Motion planning: path and trajectory.
- Overview of haptic dynamics.
- Overview of haptic control.
- Teleoperation systems.
- Physical layout and software architecture.
- Bond graphs.
- Bilateral teleoperation: force feedback.
- Stability condition.
- Transparency condition.
- Haptic and visual interaction.
- Simulation of a teleoperation system.
- Psychophysics experiments.
- Basics of statistical analysis: z-test, t-test, linear regression, ANOVA.
The exam of the course consists of a project that addresses advanced topics, with respect to those discussed in the course. Together with the teacher, the student will:
- choose one, or more, scientific papers on a topic of his/her interest related to the course,
- prepare a simulation (or experiment) demonstrating the topics addressed by the papers,
- prepare a detailed report on the work done,
- give a short presentation summarizing the main points of the study done.