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Technical University of Munich

Advanced Robot Control and Learning

Lecturer (assistant)
Alexander König [L]
Fernando Diaz Ledezma
Furkan Erdem
Yu Li
Tianyu Ren
Hamid Sadeghian
Number 0000004956
Type practical training
Duration 2 SWS
Term Wintersemester 2025/26
Language of instruction English
Position within curricula See TUMonline

Admission information

See TUMonline

Objectives

After successful participation in the module, the students are able to:
- to understand the theory behind different approaches in motion and interaction control of robot manipulators
- Solve modern control problems with advanced methods
- Understand and exploit the concept of redundancy in robotics
- Understand and use learning methods in robotics

Description

This course delves into advanced methodologies in robot control, integrating theoretical foundations with modern approaches applicable to real-world robotic systems. The course begins with essential preliminaries in robotics and nonlinear control, establishing a strong base in kinematics, dynamics, and system stability. It then progresses through a spectrum of control techniques including model-based, adaptive, and robust control methods. A significant portion of the course is dedicated to modern challenges in controlling redundant robots, force and impedance control strategies, and advanced passivity-based control methods, especially in the context of teleoperation. Students will develop both theoretical insights and practical skills, reinforced through simulations and case studies of contemporary robotic systems.

1. Introduction

2. Preliminaries in Robotics:
Dynamics
Differential Kinematics

3. Preliminaries in nonlinear control
State Space Representation
Stability Analysis

4.Motion Control :
Joint Space and Task Space Control
Model-Based Control Approaches
Adaptive and Robust Control
Redundant Robot Control

5.Interaction Control
Force Impedance Control
Energy based approach/ Tank Energy

6. Networked robots
Bilateral teleoperation
Passivity based control

7. Robot Learning

Prerequisites

- Fundamentals of control engineering
- Fundamentals of robotics

Teaching and learning methods

Exercises are made available, presented and discussed during the lessons. Sample solutions are provided. The Robothon introduces the students to real-world problems that ought to be solved in the form of a project. Have a look at previous Robothons when Prof. Haddadin was still in Hannover:
https://www.roboterfabrik.uni-hannover.de
During the Robothon, students will gain hands-on experience in solving real-world problems using robotic systems. Students will work together in teams, where each team comes up with their own suggestion of a relevant problem which they may solve within one week. The students are responsible for planning out their solution to the respective problem and implementing it. They will be supported throughout the one-week course but are self-sufficient. At the end they will demonstrate their solution live and give a presentation about the methods and approaches they have used.
Learning and control are the main theme of the student projects. Example problems are related to the future of robotics in human-robot shared working areas and industries (e.g., performing the peg-in-hole procedure, packing, etc. in the real world), future of mobility and health systems.

- Presentations
- Exercises with solutions
- Robot hands-on experience
- Tutorials

Examination

The evaluation are based on homeworks, final project and a final exam.

Recommended literature

Bruno Siciliano, Luigi Villani, Giuseppe Oriolo, Alessandro De Luca, Foundations of Robotics, Springer, 2025.
J.J. Slotine, W. Li, Applied Nonlinear Control, Prentice-Hall 1991
R. Kelly, V. Santibanez and A. Loria, Control of Robot Manipulators in Joint Space, 2005
B. Siciliano, O. Khatib, Springer Handbook of Robotics, 2008.
Ott, Christian. Cartesian impedance control of redundant and flexible-joint robots. Springer, 2008.
Hatanaka, Takeshi, et al. Passivity-Based Control and Estimation in Networked Robotics. Springer, 2015

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