See TUMonline

● Overview of robotics and control
o Introduction to robotics and control of robotic systems: a general overview of kinematics, dynamics and control of the robotic systems are given.
o Motion control: Decentralized control, PD plus gravity and inverse dynamics controller and their closed-loop dynamics are illustrated.
o Force/impedance control: The impedance control in task space and joint space is shown is reviewed.
● Telerobotic systems and applications
o Overview of telerobotics: the importance of telerobotics and different examples are reviewed.
o Control architectures: different control architecture used in teleoperation is introduced.
▪ Direct control
▪ Shared control

▪ Supervisory control
o Stability and transparency in tele-manipulations: the importance of stability and transparency is shown in illustrative example scenario.
o Telepresence reference platform at MIRMI: our telepresence setup with different protocols is introduced, and the performance of the system in contact with different environments is presented.
o Clear intensive guidance for programming with haptic devices
o Designing a teleoperation system for remote interaction and skill transfer
● Teleoperation with haptic devices
o Intensive guidance for programming with haptic devices and designing teleoperation system for remote interaction and skill transfer.
o Making students user-ready to haptic technology and challenges for teleoperation systems over real communication networks (e.g. system stability, communication load, etc.).
o Working with haptic devices and remote robot in virtual reality, introduction to ROS, Chai3D, and then a quick overview about available examples.
o Overview of teleoperation design in real environment and corresponding stability issues, and remote learning from demonstration technologies.
o Writing codes and programming the teleoperation system either in virtual or real environments to perform a certain number of tasks that are ranging from simple to complex.
● Drone and its application
o Simulation (Gazebo) and a real one that has basic semi-automatic control already implemented, including on-board localization.
o Students will implement is on-board occupancy mapping using the mounted depth camera, as well as (local) planning to avoid collisions with the environment.
o Develop a final demo, in which the drone can be steered intuitively with a keyboard, while the drone is inherently safe and will only ever move as far as safe to avoid colliding with the environment.

- Fundamentals of control theory
- Fundamentals of robotics
- Fundamentals of mobile robotics
- Fundamentals of 3D computer vision
- C, C++
- Python

During the lectures, students are instructed in a teacher-centered style. In the lab students will perform several experiments and solve various assignments. In particular:
● Lectures (for direct transfer of theoretical knowledge)
● Lab assignments (for testing the learned approaches)
● Final task (to evaluate whether students can transfer the methods they have learned during the course and applied to real-life complex task)