Robotics (2014/2015)

Course code
4S00078
Name of lecturer
Riccardo Muradore
Coordinator
Riccardo Muradore
Number of ECTS credits allocated
6
Academic sector
INF/01 - INFORMATICS
Language of instruction
Italian
Period
II sem. dal Mar 2, 2015 al Jun 12, 2015.

Lesson timetable

II sem.
Day Time Type Place Note
Tuesday 8:30 AM - 11:30 AM lesson Lecture Hall C  
Wednesday 8:30 AM - 11:30 AM laboratorio Research Laboratory Laboratorio ALTAIR  

Learning outcomes

The course objective is to give students a few advanced concepts of robotics and teleoperation, building on the basic knowledge acquired in the "Non-visual Interaction" course. Lectures will be given in a seminar form, to simplify student interaction and involvement.

Syllabus

Some of the advanced topics that will be addressed during the course include:
- manipulator dynamics and modeling algorithms
- motion control (independent PD, PD+gravity compensation)
- force control (force and impedance)
- passivity theory
- advanced algorithms for teleoperation (hybrid, passivity)
- communication time delay compensation
- motion planning algorithms
- use of numerical simulation methods in robotics.

Assessment methods and criteria

The exam will consist of a project addressing some topics discussed during the course.

Teaching aids

Documents