Advanced Robotics (2015/2016)

Course code
4S003739
Name of lecturers
Riccardo Muradore, Paolo Fiorini
Coordinator
Riccardo Muradore
Number of ECTS credits allocated
6
Academic sector
INF/01 - INFORMATICS
Language of instruction
Italian
Period
II semestre dal Mar 1, 2016 al Jun 10, 2016.

Lesson timetable

II semestre
Day Time Type Place Note
Tuesday 8:30 AM - 11:30 AM lesson Lecture Hall B  
Thursday 10:30 AM - 1:30 PM laboratorio Research Laboratory Laboratorio ALTAIR  

Learning outcomes

The course objective is to give students a few advanced concepts of robotics and teleoperation. 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

STUDENT MODULE EVALUATION - 2015/2016