Object Manipulation and Task Planning


Content, progress and pedagogy of the module


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


  • 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


  • 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


  • 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.



Name of examObject Manipulation and Task Planning
Type of exam
Written or oral exam
Assessment7-point grading scale
Type of gradingInternal examination
Criteria of assessmentThe criteria of assessment are stated in the Examination Policies and Procedures

Facts about the module

Danish titlePlanlægning og udførelse af opgaver
Module codeM-ESNROBK2K1
Module typeCourse
Duration1 semester
Language of instructionEnglish
Empty-place SchemeYes
Location of the lectureCampus Aalborg
Responsible for the module


Education ownerMaster of Science (MSc) in Engineering (Robotics)
Study BoardStudy Board of Mechanical Engineering and Physics
DepartmentDepartment of Materials and Production
FacultyThe Faculty of Engineering and Science