Content, progress and pedagogy of the module

Objective:

A robotic system may manipulate objects in its environment in order to carry out a given task. This course will go into details with methods for modelling, planning and control of such tasks. This include robots collaborating. A special focus will be on force-torque and impedance control. The course will also present methods for automatic planning of sequences of elementary operations to enable the robot to achieve higher level task goals.

Learning objectives

Knowledge

• Must have knowledge of principles for decomposing robotic tasks into elementary operations
• Must have knowledge of methods for force-torque and impedance control
• Must have knowledge of methods for modelling of object manipulation activities for feedforward control
• Must have knowledge of principles for planning robotic tasks based on elementary operations
• Must have knowledge of task-driven automatic offline programming

Skills

• Must be able to design basic force-torque and impedance control systems
• Must be able to represent a task as a composition of elementary operations using formal methods
• Must be able to realize systems for automatic task planning

Competences

• Must be able to model and control object manipulation activities
• Must be able to select relevant methods and tools for task decomposition and planning and synthesize them into a system for automatic task execution

Type of instruction

See the general description of the types of instruction described in § 17.

Exam

Exams