ELEC-E8126 - Robotic manipulation D, Lecture, 10.1.2022-11.4.2022
This course space end date is set to 11.04.2022 Search Courses: ELEC-E8126
Topic outline
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Concept
Lectures will be places of discussion where the current topic is summarized by the lecturer and discussed among all present. The students are expected to prepare by reading given material in advance prior to each lecture.
Arrangements
Course lectures will be given during third and fourth period.
Lectures will be given over Zoom at link https://aalto.zoom.us/j/65514539240.
Readings / Videos
For each lecture starting from the second one, there will be reading materials that the students should study before attending the lecture.
Background and systems used on course, Jan 10, no readingsIntroduction, Jan 17, Lynch & Park ch. 5-5.1.4Motion planning, Jan 24, Lynch & Park ch. 10
Motion control, Jan 31, Lynch & Park ch. 11-11.3.2
Dynamic movement primitives (guest lecture), Feb 7, "Dynamic Movement Primitives in Robotics: A tutorial survey" Secs. 1-2Control in contact, Feb 14, Lynch & Park ch 11.5-11.6Impedance control (guest lecture), Feb 21Manipulation, Feb 28, Lynch & Park ch 12-12.1.3Friction and grasping, Mar 7, Lynch & Park, Chapter 12.2-12.2.2Closed kinematic chains, Mar 14, Lynch & Park, Chapter 7-7.1.3
Redundancy, Mar 21, Chiaverini et al., “Redundant robots”, Springer Handbook of Robotics, 2nd ed., ch. 10-10.2.2.Learning/modeling of manipulation skills, Mar 28, Kroemer et al., "A review on robot learning for manipulation", secs. 1-3.Discussion session (in person), Apr 4, Maarintie 8 lecture hall TU1.-
Lecture 4: Dynamic movement primitives (restricted to Aalto students) File PDF
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Lecture 6: Impedance Control (restricted to Aalto students) File PDF