Credits: 5

Schedule: 08.01.2020 - 06.04.2020

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

Slack: Course registrants will be automatically invited. If you don't get an invitation after the course begins, please contact TAs by email.

Please use Slack as primary communication channel.

Personal tutoring/TAs: exercise sessions.

Lecturer: after lectures.

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.

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): 

Weekly quizzes 25%.

Assignments / mini-projects 75%.

To pass, 50% of maximum total grade must be achieved.

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

Independent study / Readings and quizzes 28 h

Independent study / Solving exercises 56 h

Total 130 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
  • Links to readings and videos
Primary book
  • Lynch & Park, “Modern Robotics: Mechanics, Planning, and Control”
Secondary books
  • LaValle, “Planning algorithms”
  • Murray, Li & Sastry, “Mathematical Introduction to Robotic Manipulation”

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): 


Further Information (valid 01.08.2018-31.07.2020): 

Language class 3: English


Registration and further information