Please note! Course description is confirmed for two academic years, which means that in general, e.g. Learning outcomes, assessment methods and key content stays unchanged. However, via course syllabus, it is possible to specify or change the course execution in each realization of the course, such as how the contact sessions are organized, assessment methods weighted or materials used.


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.

Credits: 5

Schedule: 13.01.2021 - 12.04.2021

Teacher in charge (valid 01.08.2020-31.07.2022): Ville Kyrki

Teacher in charge (applies in this implementation): Ville Kyrki

Contact information for the course (valid 05.01.2021-21.12.2112):

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.

CEFR level (applies in this implementation):

Language of instruction and studies (valid 01.08.2020-31.07.2022):

Teaching language: English

Languages of study attainment: English


  • Valid 01.08.2020-31.07.2022:

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

Assessment Methods and Criteria
  • Valid 01.08.2020-31.07.2022:

    Assignments and project work.

  • Applies in this implementation:

    Weekly quizzes 25%.

    Assignments / mini-projects 75%.

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

  • Valid 01.08.2020-31.07.2022:

    Contact teaching, independent study, assignments, project

    Contact teaching 56 h

    Independent study 74 h

  • Applies in this implementation:

    Workload estimate:

    Contact teaching 56 h

    Independent study 74 h


Study Material
  • Valid 01.08.2020-31.07.2022:

    Lecture notes. On-line material.

  • 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”

  • Valid 01.08.2020-31.07.2022:

    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.