Advanced Robotics (2016/2017)

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 sem. dal Mar 1, 2017 al Jun 9, 2017.

Lesson timetable

II sem.
Day Time Type Place Note
Monday 2:30 PM - 5:30 PM lesson Lecture Hall I  
Wednesday 4:30 PM - 7:30 PM laboratorio Research Laboratory Laboratorio ALTAIR from Mar 15, 2017  to Jun 9, 2017

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. During the lab activities, students will learn how to implement advanced algorithms using the Robot Operating System (ROS).
At the end of the course, the students will be able to
- design a controller for electromechanical systems (e.g. electric motor),
- develop and implement advanced algorithms for bilateral teleoperation in ROS.

Syllabus

THEORY. Some of the advanced topics that will be addressed during the course include:
- manipulator dynamics
- motion control (PID)
- force control (force and impedance)
- passivity theory
- advanced algorithms for teleoperation
- communication time delay compensation
LABORATORY.
- Tuning of PID controller
- Implementation of velocity estimators
- Data-driven system identification
- Implementation of bilateral teleoperation algorithms
TEACHING AIDS: During the course, lecture notes, slides and scientific papers will be provided.

Assessment methods and criteria

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

Teaching aids

Documents

Student opinions - 2015/2016


Statistics about transparency requirements (Attuazione Art. 2 del D.M. 31/10/2007, n. 544)

Data from AA 2016/2017 are not available yet