19552

WiSe 12/13: Robotics

Manfred Hild

Additional information / Pre-requisites

1,2,3

Comments

Inhalt The lecture will give an introduction to robotics in four chapters:Generating motiongoal: orchestrate joint movements fordesired endeffector movement (kinematic chains, Jacobian, inverse kinematics, multipletasks, singularities and regularization, collision potentials;dynamic control, 1D point mass, PID control, general dynamic systemequation, Newton-Euler, optimal dynamic control, operational spacecontrol)Planning and optimizationgoal: planning around obstacles, optimizing trajectories (path finding, Dijkstra, configuration space obstacles,sampling-based methods, road maps, complexity, RRTs, differentialconstraints, metrics;trajectory optimization, general cost function, task variables,transition costs, gradient methods, 2nd order methods, DynamicProgramming)Dynamicst.b.a.Mobile robotsgoal: localize and map yourself; walk (state estimation problem, Bayesian filter, Odometry,Particle & Kalman filter, simultaneous localization and mapping (SLAM),legged locomotion, zero moment point, compass gait & passive walker)After these lectures, students will be able to design basic algorithmsfor control and motion generation of robotics. Zielgruppe Students interested in robotics and the synthetic approach to artificial intelligence. Voraussetzungen As a prerequisite, student should have basicknowledge of maths, in particular linear algebra and a bit ofoptimization. Literatur - Handbook of Robotics (partially online at Googlebooks) - Robotics: modelling, planning and control By Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani - LaValle's Planning Algorithms - Robot Modeling and Control Homepage http://userpage.fu-berlin.de/~mtoussai/teaching/11-Robotics/ close

16 Class schedule

Regular appointments

Mon, 10:00 - 12:00 16 Class schedule

Mon, 2012-10-15 10:00 - 12:00

Lecturers:
Manfred Hild