Physical human-robot interaction (2020/2021)

Course code
4S007197
Credits
6
Coordinator
Riccardo Muradore
Academic sector
INF/01 - INFORMATICS
Language of instruction
Italian
Teaching is organised as follows:
Activity Credits Period Academic staff Timetable
Teoria 5 I semestre Riccardo Muradore

Go to lesson schedule

Laboratorio 1 I semestre Riccardo Muradore

Go to lesson schedule

Learning outcomes

The course aims to provide the following knowledge: theoretical foundation of physical human-robot interaction (e.g. bilateral teleoperation and force control), with particular attention to the design of control architectures capable of guaranteeing stability even in the presence of uncertainties and communication delays.
At the end of the course the student will have to demonstrate that s/he has the following skills to apply the acquired knowledge: analyze the technical characteristics and structural properties of a control system for direct or teleoperated interaction with the environment; derive the mathematical model of the physical robot-environment interaction (direct or teleoperated); design a control architecture to ensure stability, performance and safety; implement the control architecture in simulators (e.g. Matlab/Simulink) and in operating systems tailored to robotic application (e.g. ROS).
Student must also have the ability to define the technical specifications for a physical human robot-interaction system a (direct or teleoperated) and the ability to choose the most appropriate way to design the control architecture.
Student will have to be able to deal with other engineers (e.g. electronic, automatic, mechanical) to design advanced control architectures for complex physical human-robot interaction systems.
Student will have to show ability to continue its studies independently in the context of the design of architectures based on non-linear and adaptive techniques.

Syllabus

Topics that will be addressed during the course:
- manipulator dynamics
- motion control (PID)
- force control (force and impedance)
- passivity theory
- advanced algorithms for teleoperation
- communication time delay compensation
Topics that will be addressed during the lab activity:
- Tuning of PID controllers
- Implementation of velocity estimators
- Data-driven system identification
- Implementation of bilateral teleoperation algorithms in ROS/Matlab-Simulink

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.