Sensor-based Robotic Manipulation and Locomotion

The lecture is recommended for master students which already had an introductory lecture in robotics. Terms like kinematics, Jacobians and basic dynamics notions are assumed to be known and are only very briefly revisited.

SS24

The course can now be found in moodle. Lecture material, lecture recordings, exercises, homeworks and the link to the synchronous online meeting can be found there.

Literature

Basics of differential geometry:

Teubner-Taschenbuch der Mathematik, Teil II, B.G.Teubner Stuttgart-Leipzig, 1995

T. Frankel: The Geometry of Physics - An Introduction, Cambridge University Press 1997

 

Task Level Decoupling Control:

O. Khatib, Lecture Notes:Advanced Robotic Manipulation

O. Khatib, Inertial Properties in Robotic Manipulation: An Object Level Framework, Int. Journal of Robotics Research, Vol.14, No1, 1995, S.19-3

 

Passivity based control, adaptive control:

M. W. Spong, S. Hutchinson, M. Vydiasagar: Robot Modelling and Control, John Wiley & Sons, 2006

J. J. Slotine, W. Li: Applied Nonlinear Control, Prentice-Hall, 199

 

Modelling, parameters identification:

W. Khalil, E. Dombre: Modelling, Indentification & Control of Robots, Hermes Penton Ltd., 2002

 

Differential geometry based introduction in robotics:

Richard M. Murray, Zexiang Li and S. Shankar Sastry

A Mathematical Introduction to Robotic Manipulation

Last update 21.06.2024