ELEC-E8126 - Robotic manipulation D, Lecture, 9.1.2023-13.4.2023
Kurssiasetusten perusteella kurssi on päättynyt 13.04.2023 Etsi kursseja: ELEC-E8126
Osion kuvaus
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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 Mondays 10:15-12:00, typically in lecture hall TU1 (Maarintie 8 building), check SISU or MyCourses. Lectures will not be recorded, to promote interaction during them. If you miss a single lecture, recordings from a previous year can be consulted, since there are only minor differences.
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 9, no readings. Guest lecturer: Gökhan Alcan.Introduction, Jan 16, Lynch & Park ch. 5-5.1.4Motion planning, Jan 23, Lynch & Park ch. 10
Motion control, Jan 30, Lynch & Park ch. 11-11.3.2
Control in contact, Feb 6, Lynch & Park ch 11.5-11.6Manipulation, Feb 13, Lynch & Park ch 12-12.1.3Feb 20 no lecture (exam week, time for you to prepare for possible exams)Friction and grasping, Feb 27, Lynch & Park, Chapter 12.2-12.2.2Closed kinematic chains, Mar 6, Lynch & Park, Chapter 7-7.1.3
Redundancy, Mar 20, Chiaverini et al., “Redundant robots”, Springer Handbook of Robotics, 2nd ed., ch. 10-10.2.2.Learning/modeling of manipulation skills, Mar 27, Kroemer et al., "A review on robot learning for manipulation", secs. 1-3.Discussion and summary, Apr 3.-
Lecture 4: Dynamic movement primitives (restricted to Aalto students) Tiedosto PDF
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Lecture 6: Impedance Control (restricted to Aalto students) Tiedosto PDF