F21ZJ - Advanced Robotics

Aims

This is a fast-paced course that starts with the fundamentals and then proceeds to go in-depth with core elements in robotics. The focused topics cover: kinematics, dynamics and control; state estimation and signal processing; digital control systems; optimisation, robot motion planning; and robot learning. The aim of the course is to present essentials in robotics, articulated robots in particular, culminating in a robotic lab practical. The lab involves the development of an integrated robotic system which embodies the major algorithmic techniques used in real-world robotic applications. To bridge the lectures on algorithms and lab sessions, the course also provides tutorials dedicated to the practice of programming and the implementation of algorithms - from the equations to code.

Lectures on these topics will be complemented by labs that exercise knowledge of a cross section of these techniques, based on realistic tasks driven by real-world applications, such as dual-arm robot manipulation. The practical lab consists of 2 parts: individual-based simulation (80%), and group-based real robot demonstration (20%). The lab demonstration will be carried out on an advanced humanoid robot and students will work in groups to deploy their work on the real robot.

Syllabus

1.1 In this course, students will learn the major algorithmic techniques and practical skills in robotics that can be applied and transferred to many real-world applications, such as manipulation of surgical robotics and robot assembly in automobile and manufacturing.

2.1 The course assumes no prior knowledge of robotics, so begins with a high-level overview of the major areas in robotics and then introduces core topics: kinematics, dynamics and control; state estimation and signal processing; digital control systems; optimisation and optimal control; robot motion planning and basics of robot learning.

3.1 Building on these fundamentals, the course then focuses on the advanced control and task planning of articulated robotic systems, e.g. robotic manipulators. Students develop a lab practical in both simulation and on a real robot, so as to consolidate theoretical knowledge and develop practical skills.