Fundamentals of Robotics and Bionics

Recommended Prerequisites

NA

Teaching Methods

Theoretical classes are dedicated to the presentation of the concepts covered in the course with the help of audiovisual media. In theoretical-practical classes, problems related to the topics covered in theoretical classes are discussed, solved and implemented in software. Part of classes take place in a laboratory environment using simulation and robotic hardware.

Learning Outcomes

The course unit of Fundamentals of Robotics and Bionics has as its main objective to introduce the analysis and design of robotic systems (manipulators, bionic robots, and mobile robots). Emphasis is placed on the practical implementation of the topics covered, particularly through the use of simulators and real robots. After completing this course unit, students are expected to be prepared to start working in the field, communicate effectively with specialists, and be capable of designing, operating, and maintaining robotic equipment applied in the most diverse sectors.

Work Placement(s)

No

Syllabus

Robot manipulators: types of robots, position and orientation in 3D space, direct and inverse kinematics, singularities, Jacobian, dynamics. Actuators and sensors for robots. Implementation in software. Offline programming of robot manipulators. On-line programming of collaborative robots. Human-robot interaction.

Fundamentals of Bionics: Bio-inspired robots, compliant actuation and sensing, design, fabrication and control of bio-inspired robots.

Mobile robot's (wheeled) locomotion: Holonomic and non-holonomic systems, Instantaneous Center of Curvature (ICC), Kinematic models, Sensors for mobile robots, Motion Control, Navigation, Mapping, Localization, Global Planner (path finder) Algorithms.

Assessment Methods

Assessment
Laboratory work or Field work: 40.0%
Exam: 60.0%

Bibliography

Corke, P., Jachimczyk, W. and Pillat, R. (2023) Robotics, vision and Control, Springer. 978-3-031-07262-8

Craig, J. (1970) Introduction to robotics, 4th edition, Pearson. 978-1-292-16493-9

Nehmzow, U. (2012) Mobile Robotics, Springer. 978-1-85233-726-1

Khatib, O., & Siciliano, B. (2016) Springer Handbook of Robotics. Springer. 978-3-319-32550-7

Anis Koubaa (2022) Robot Operating System (ROS). Springer. 978-3-030-75474-7

Gregory Dudek, Michael Jenkin (2010) Computation Principles of Mobile Robotics, Cambridge University Press, 2nd edition

Roland Siegwart, Illah Nourbakhsh, Davide Scaramuzza (2011) Introduction to Autonomous Mobile Robots

The MIT Press, 2nd edition

Gregor Klančar, Andrej Zdešar, Sašo Blažič, Igor Škrjanc (2017) Wheeled Mobile Robotics, From Fundamentals Towards Autonomous Systems, Butterworth-Heinemann

Sebastian Thrun, Wolfram Burgard and Dieter Fox (2005) Probabilistic Robotics, The MIT Press