Syllabus

Credits: 5

Schedule: 07.01.2019 - 08.04.2019

Contact information for the course (applies in this implementation): 

The lecturer, prof. Ville Kyrki, can be contacted at lectures.

TAs can be contacted via a course Slack channel and at exercise sessions.

Teaching Period (valid 01.08.2018-31.07.2020): 

III-IV (spring) 2018-2019
III-IV (spring) 2019-2020

Learning Outcomes (valid 01.08.2018-31.07.2020): 

After completing the course, a student can: (I) explain main concepts related to robotic manipulation; (ii) read scientific literature in robotics to choose approaches for a particular problem; (iv) implement state-of-the-art algorithms.

Content (valid 01.08.2018-31.07.2020): 

Robotic manipulation. Grasping and pushing. Motion planning. Motion control. Control in contact. Redundancy. Learning manipulation skills.

Details on the course content (applies in this implementation): 

After completing the course, a student can: (i) explain main concepts
related to robotic manipulation; (ii) read scientific literature in
robotics to choose approaches for a particular problem; (iii) implement
state-of-the-art algorithms.

Assessment Methods and Criteria (valid 01.08.2018-31.07.2020): 

Assignments and project work.

Elaboration of the evaluation criteria and methods, and acquainting students with the evaluation (applies in this implementation): 

The course grading is based on

• weekly electronic assignments related to lectures (quizzes), 25% of total grade
• seven practical assignments related to exercises, evaluated based on a submitted software and report, 75% of total grade

In addition, extra points are awarded from active participation, in particular, answering questions and giving feedback on course Slack.

Workload (valid 01.08.2018-31.07.2020): 

Contact teaching, independent study, assignments, project

Contact teaching 56 h

Independent study 74 h

Details on calculating the workload (applies in this implementation): 

Lectures 24 h

Exercise sessions 22 h

Readings and quizzes 28 h

Solving exercises  56 h

Study Material (valid 01.08.2018-31.07.2020): 

Lecture notes. On-line material.

Details on the course materials (applies in this implementation): 

Lecture slides are available in MyCourses.

Primary course book is Modern Robotics: Mechanics, Planning and Control, by Kevin Lynch and Frank Park.

Prerequisites (valid 01.08.2018-31.07.2020): 

Required: Basic programming skills, basic calculus (gradient), basic vector and matrix algebra, basic probability (random variables, expectation), basic robotics (e.g. ELEC-C1320)
Recommended: Autonomous mobile robots, Digital and optimal control.

Grading Scale (valid 01.08.2018-31.07.2020): 

0-5

Further Information (valid 01.08.2018-31.07.2020): 

Language class 3: English

Description

Registration and further information