Laurea magistrale in Ingegneria e scienze informatiche

Robotics (2012/2013)

Course code 4S00078 Teacher Riccardo Muradore Coordinator Riccardo Muradore training credits 6 Disciplinary sector INF/01 - Computing Teaching language Italian Period II semestre dal Mar 4, 2013 al Jun 14, 2013.

Links Course news Seminars related to the course

Lecture timetable

Educational objectives

The course objective is to give students a few advanced concepts of robotics and teleoperation, building on the basic knowledge acquired in the "Non-visual Interaction" course. Lectures will be given in a seminar form, to simplify student interaction and involvement.

Syllabus

Some of the advanced topics that will be addressed during the course include:
- manipulator dynamics and modeling algorithms
- motion control (independent PD, PD+gravity compensation)
- force control (force and impedance)
- passivity theory
- advanced algorithms for teleoperation (hybrid, passivity)
- communication time delay compensation
- motion planning algorithms
- use of numerical simulation methods in robotics.

Exam methods

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

Statistics on students' past performance (Art. 2 del D.M. 31/10/2007, n. 544)

Data from AA 2012/2013 are not available yet