Selected topics in robotics

Higher education teachers: Munih Marko
Collaborators: Lenarčič Jadran

Subject description

Prerequisits:

• Completed degree in engineering or natural sciences. Appropriate inscription.

Content (Syllabus outline):

• Analysis and synthesis of serial and parallel robot mechanisms
• Advanced approaches in kinematics, dynamics, control and sensory systems in robotics
• Parallel robot systems: kinematic singularities, manipulability, sensitivity of constructional errors
• Robotic grasping systems: multifinger robot grippers, grasping in man and robot, tendon systems
• Robot systems in medicine: rehabilitation robotics, robotics in surgery, biorobotics
• Walking robots: monopod, biped, and multilegged robots, analysis and sysnthesis of locomotion in man and robot
• Exotic robots

Objectives and competences:

The aim of the course is to present topics from the areas of kinematics, dynamics, control, and sensory systems of most advanced robot systems.

Intended learning outcomes:

The envisaged results of the study include comprehension of mathematical and physical background together with expertise in technological solutions in specific areas of robotics.

Learning and teaching methods:

Lectures and seminars are based on recent papers published in eminent robotic journals, i.e. IEEE Trans. Robot., Int. J. Robot. Res., Advanced Robotics and conference proceedings IEEE ICRA and IROS. The lectures cover theoretical background, advaced technologies, and practical examples. Seminar is based on student's personal research and includes presentation of research results.

Study materials

1. B. Siciliano, O. Khatib, Handbook of Robotics, Springer, 2008.
2. M. W. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control, Willey, 2005.
3. J. Lenarčič, T. Bajd, M.Stanišič, Robot Mechanisms, Springer 2012.
4. Arimoto S, Control theory of multi-fingered hands, Springer, 2008.
5. Springer Tracts in Advanced Robotics (several books)