Foundations of Modern Robotics
Foundations of Modern Robotics
Winter Semester, 2024/25
Lecturer Course Assistant
Prof. Dr. Majid Khadiv Michal Ciebielski, M.Sc.
Email:
[email protected] Email:
[email protected] Office Hours: Upon request Office Hours: Upon request
Course Outline
The lectures will take place starting 15.10 on Tuesdays from 16:45-18:15 s.t. at 0220, Hörsaal m.
Exp.-Bühne (0502.EG.220) and Wednesdays from 13:15-14:45 s.t. at N 1179, Wilhelm-Nusselt-
Hörsaal (0101.02.179).
Chapter 1: Introduction • Statics of Open Chains
• What is robotics? • Singularity Analysis
• History of robotics • Manipulability
• Different types of robots
• Sensors and actuators
Chapter 5: Inverse Kinematics
Chapter 2: Configuration Space • Introduction to optimization
• Degrees of freedom
• Analytic Inverse Kinematics
• Topology and representation
• Numerical Inverse Kinematics
• Holonomy and non-holonomy
• Inverse Velocity Kinematics
Chapter 3: Rigid-Body Motion • QP-based inverse kinematics
• Manifold and Lie Algebra
• Exponential coordinates and Rotation
Chapter 6: Dynamics
Matrices
• Homogeneous Transformation Matrices • Lagrangian Formulation
• Twists and Wrenches • Newton–Euler Inverse Dynamics
Chapter 4: Forward Kinematics • Dynamics in the Task Space
• Product of Exponentials Formula • Constrained Dynamics
• Space and Body Jacobian • Actuation, Gearing, and Friction
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Chapter 7: Planning • Force control
• Graphs and trees • Hybrid Force/Torque control
• Complete Path Planners • Impedance control
• Sampling Methods
• Virtual Potential Fields Chapter 9: Advanced Topics
• Advanced topics: Optimization-based
planning • Floating-base systems
• Wheeled systems
Chapter 8: Control
• Contact-rich locomotion and manipula-
• Motion control tion
Course Materials
All course materials will be uploaded on the moodle page, including lecture slides, exercise
sheets and software tutorials.
• Lynch, K. M. Modern Robotics. Cambridge University Press, 2017.
• Featherstone, Roy. Rigid body dynamics algorithms. Springer, 2014.
• Murray, Richard M., Zexiang Li, and S. Shankar Sastry. A mathematical introduction to
robotic manipulation. CRC press, 2017.
Prerequisites
The course is fully self-contained. However, programming in Python is necessary, as several
tutorials will be delivered during the semester on using the state-of-the-art libraries for robotics.
Course Objectives
After successful completion of the course, students will have learned how to efficiently model
robotic systems and simulate their motion. Also, they are able to use state-of-the-art and ad-
vanced planning and control algorithms to control robots in the environment. also, they will
have learned how to use state-of-the-art robotics software for robotics projects.
Course Structure
• Lectures will follow the material presented in the course outline.
• Exercises will serve to practice the theoretical concepts and will be given out after each
chapter is completed.
• Software tutorials throughout the semester will provide students the ability to get hands
on experience with the material.
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Assessments
The grade will be based solely on the final exam. However, there is also an opportunity to get a
bonus of one grade level, i.e. from 1,3 to 1,0 or 1,7 to 1,4 etc. The grade bonus will be awarded
to those students who achieve 70% of the points available from the exercises.
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