Sensor-based Robotic Manipulation and Locomotion
The lecture is recommended for master students which already had an introductory lecture in robotics. Terms like kinematics, Jacobians and basic dynamics notions are assumed to be known and are only very briefly revisited.
WS20/21
The course can now be found in moodle. Lecture material, lecture recordings, exercises, homeworks and the link to the synchronous online meeting can be found there.
Literature
Basics of differential geometry:
Teubner-Taschenbuch der Mathematik, Teil II, B.G.Teubner Stuttgart-Leipzig, 1995
T. Frankel: The Geometry of Physics - An Introduction, Cambridge University Press 1997
Task Level Decoupling Control:
O. Khatib, Lecture Notes:Advanced Robotic Manipulation
Passivity based control, adaptive control:
M. W. Spong, S. Hutchinson, M. Vydiasagar: Robot Modelling and Control, John Wiley & Sons, 2006
J. J. Slotine, W. Li: Applied Nonlinear Control, Prentice-Hall, 199
Modelling, parameters identification:
W. Khalil, E. Dombre: Modelling, Indentification & Control of Robots, Hermes Penton Ltd., 2002
Differential geometry based introduction in robotics:
Richard M. Murray, Zexiang Li and S. Shankar Sastry