IHA-4506 Advanced Robotics, 5 cr
Additional information
Suitable for postgraduate studies.
Person responsible
Roel Pieters, Reza Ghabcheloo
Lessons
| Implementation | Period | Person responsible | Requirements |
| IHA-4506 2018-01 | 1 - 2 |
Reza Ghabcheloo Roel Pieters |
Excercies and project work |
Learning Outcomes
Students will learn some of advanced topics in Robotics. We will introduce number of topics in series of lectures every second week. Students are given assignments on each topic. The assignment include algorithm development and programming, and experimenting on a real robot. Covered topics are Robot control and control architectures Visual control and obstacle avoidance Force and compliance control Learning from demonstration
Content
| Content | Core content | Complementary knowledge | Specialist knowledge |
| 1. | Robot motion control | Resolved rate control and inverse dyamic control | Stability, state feedback, Lyapunov based control design |
| 2. | Visual feedback and obstacle avoidance | state estimation, kinematics | vector fields |
| 3. | Force feedback and compliance control | feedback control | |
| 4. | Robot control architectures | ||
| 5. | Learning from demonstration | dynamic systems, optimization |
Instructions for students on how to achieve the learning outcomes
Returned assignments and term projects and demos.
Assessment scale:
Numerical evaluation scale (0-5)
Prerequisites
| Course | Mandatory/Advisable | Description |
| ASE-1130 Automaatio | Mandatory | 1 |
| ASE-9407 Robot Manipulators: Modeling, Control and Programming | Mandatory | |
| IHA-4206 Mechatronics and Robot Programming | Mandatory | |
| IHA-4306 Fundamentals of Mobile Robots | Advisable |
1 . ASE-1258 Intorduction to control
Additional information about prerequisites
You need to have basic understanding of dynamic systems and feedback control. ROS is our primary software platform. Some basics of Matlab is also needed.
Correspondence of content
There is no equivalence with any other courses