IHA-4506 Advanced Robotics, 5 cr
Lisätiedot
Suitable for postgraduate studies.
Vastuuhenkilö
Roel Pieters, Reza Ghabcheloo
Opetus
| Toteutuskerta | Periodi | Vastuuhenkilö | Suoritusvaatimukset |
| IHA-4506 2019-01 | 1 - 2 |
Reza Ghabcheloo Roel Pieters |
Excercies and project work |
Osaamistavoitteet
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
Sisältö
| Sisältö | Ydinsisältö | Täydentävä tietämys | Erityistietämys |
| 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 | |
| 3. | Force feedback and compliance control | feedback control | |
| 4. | Robot control architectures | ||
| 5. | Learning from demonstration | dynamic systems, optimization | vector fields |
Ohjeita opiskelijalle osaamisen tasojen saavuttamiseksi
Returned assignments and term projects and demos.
Arvosteluasteikko:
Numerical evaluation scale (0-5)
Esitietovaatimukset
| Opintojakso | P/S | Selite |
| ASE-9407 Robot Manipulators: Modeling, Control and Programming | Mandatory | |
| IHA-4206 Mechatronics and Robot Programming | Mandatory | |
| IHA-4306 Fundamentals of Mobile Robots | Advisable |
Tietoa esitietovaatimuksista
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.
Vastaavuudet
Opintojakso ei vastaan mitään toista opintojaksoa