Advanced Robotics (2017/2018)

Course code
4S003739
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 1, 2018 al Jun 15, 2018.

Lesson timetable

Go to lesson schedule

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) and Matlab/Simulink.
At the end of the course, 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 and Matlab/Simulink.

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. The student should have to implement in ROS (and/or in Matlab/Simulink) a teleoperation algorithm, test it, and prepare a brief technical document explaining his/her work.

To pass the exam, the student should:
- have understood the principles related to the design of a bilateral teleoperation system,
- be able to use the knowledge acquired during the course to solve the assigned problem,
- be able to describe their work by explaining and motivating the design choices.

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

Data from AA 2017/2018 are not available yet