Anthropomorphic robotics web site

Anthropomorphic robotics website

A course for the bioengineering curricula

Teaching: Giorgio Metta, Francesco Nori, Ugo Pattacini, Matteo Fumagalli

Text Book: L. Sciavicco and B. Siciliano. Robotica Industriale. Modellistica e controllo di manipolatori, seconda edizione. McGraw-Hill. 2000. ISBN 88-386-0874-1. (main textbook for the first semester, also English version available).

Exam Guidelines: exam rules for second semester (eng) and exam rules for first semester (eng).

Mailing List Subscription (requires authorization): link

Previous year: home page click here

When and where:
First semester: Wednesday 14-16 (room B6), Friday 14-16 (room B6).

Exams:
Still to be defined. Please contact Giorgio Metta and Francesco Nori for details.

To contact Giorgio Metta:
     tel: 010-353-2946 or 010-71781411
     email: pasa (AT) liralab.it
     web: http://pasa.liralab.it

To contact Francesco Nori:
     tel: 010-353-2946 or 010-71781420
     email: iron (AT) liralab.it
     web: http://people.liralab.it/iron/

To contact Ugo Pattacini:
tel: 010-71781420
email: ugo.pattacini (AT) iit.it

To contact Matteo Fumagalli:
tel: 010-71781420
email: matteo.fumagalli (AT) iit.it

Mailing list: robotica (AT) liralab.it

Use of the mailing list:
- general interest questions and requests
- additional requests about classes and exercises
- announcements about the course
- information exchange about the exercises
- limited to registered users (all students registered at the beginning of the semester)

First semester (September-December): syllabus and lecture notes

Oct 13th. Introduction to the course (2h), Francesco Nori.

Oct 15th. Rotation matrices, elemental rotations, properties and definitions: first part (2h), Francesco Nori -ref, Sciavicco-Siciliano, chapter 2.

Oct 20th. CANCELLED (participation to IROS2010).

Oct 22th. CANCELLED (participation to IROS2010).

Oct 27th. Rotation matrices, elemental rotations, properties and definitions: second part (2h), Francesco Nori -ref, Sciavicco-Siciliano, chapter 2.

Oct 29th. Forward Kinematics, Denavit-Hartenberg representation with examples. Ugo Pattacini -ref, Sciavicco-Siciliano, chapter 2.

Nov 3rd. Analytical examples of Inverse Kinematics; Joint and Operational Space; Kinematic Redundancy. Ugo Pattacini -ref, Sciavicco-Siciliano, chapter 2..

Nov 5th. Derivatives of Rotation Matrices; Differential Kinematics; Geometric and Analytical Jacobian. Ugo Pattacini -ref, Sciavicco-Siciliano, chapter 3..

Nov 8th. Iterative Algorithms for Inverse Kinematics (pseudo-inverse and transpose of Jacobian) - Simulink Models. Ugo Pattacini.

Nov 10th. The virtual work principle applied to statics. Kineto-statics duality. Velocity and force transformation. Francesco Nori -ref, Sciavicco-Siciliano, chapter 3.

Nov 17th. Modeling and control of a single joint. Giorgio Metta. -pdf-

Nov 19th. Modeling and control of a single joint (part 2, continued from set of slides of Nov 17th). Giorgio Metta.

Nov 24th. Dynamics: Energy of Rigid Bodies, Lagrange Formulation. Matteo Fumagalli -ref, Sciavicco-Siciliano, chapter 4.

Nov 26th. Dynamics: Newton-Euler Formulation, Properties of Motion Equations. Exercises. Matteo Fumagalli -ref, Sciavicco-Siciliano, chapter 4.

Dec 1st. Dynamics: Cartesian Space Formulation. Exercises. Matteo Fumagalli -ref, Sciavicco-Siciliano, chapter 4.

Dec 3rd. CANCELLED (flight from Munich cancelled for bad weather conditions).

Dec 8th. National Holiday.

Dec 10th. Algebra recapitulation on Moore-Penrose pseudo-inverse. Kinematic and dynamic ellipsoid. Direct and inverse dynamic problems: joint and task space formulation. Francesco Nori -ref, Sciavicco-Siciliano, chapter 3 and 4, appendix.

Dec 13th. Motion control: joint space control (decentralized) with considerations on pole placement in case of PI control of a single motor and in case of feedforward compensation. Francesco Nori -ref, Sciavicco-Siciliano, chapter 6.

Dec 15th. Motion control: centralized control. PD control with gravity compensation, inverse dynamics control, robust control. Francesco Nori -ref, Sciavicco-Siciliano, chapter 6.

Dec 17th. Motion control: centralized control. Adaptive control. Motion control: generalization to operational space control. Francesco Nori -ref, Sciavicco-Siciliano, chapter 6.

Jan 12th. Extra lesson. Computing dynamics of simple 2DOF mechanisms -notes-. Francesco Nori.

Second semester (March-May): syllabus and lecture notes

Mar 2nd. Optimization of constrained functions (2h), -notes(eng)- -notes(ita)-. Francesco Nori.
Mar 4th. Calculus of variation and computation of the minimum jerk path planning (2h), -notes(eng)-, -notes(ita)-. Francesco Nori.
Flash T., Hogan N. "The coordination of arm movements: an experimentally confirmed mathematical model." J Neurosci. 1985 Jul;5(7):1688-703 -link-.
Morasso P., "Spatial control of arm movements." Experimental Brain Research, Volume 42, Number 2, 223-227, DOI: 10.1007/BF00236911 -link-.
March 9th. Calculus of variation, unconstrained optimization of functionals (2h). -notes(eng)-, -notes(ita)-. Francesco Nori
March 11th. Calculus of variation, constrained optimization of functionals (2h). -notes(eng)-, -notes(ita)-. Francesco Nori
March 16th. Constrained optimization of functionals and optimal control (2h). -notes(eng)-, -notes(ita)-. Francesco Nori
March 18th. CANCELLED.
March 23th. Linear quadratic regulator (2h). -notes(eng)-, -notes(ita)-. Group projects proposal -slides(eng)-. Francesco Nori
March 25th. More on linear quadratic regulator (2h). -notes(eng)-, -notes(ita)-. Francesco Nori
March 30th. CANCELLED (RBCS melting pot).
April 1st. CANCELLED (RBCS melting pot).
April 6th. Numerical solutions of non-linear optimal control problems -notes(eng)-. Francesco Nori
April 8th. Dynamic programming -notes(eng)-. MATLAB simulations for solving optimal control problems -code.zip-. Francesco Nori
April 13th. Compliance control. -notes(ita)-. Francesco Nori
April 15th. Impedance control. -notes(ita)-. Francesco Nori
April 20th. The minimum-torque change paradigm. An application to a 2DOF kinematic chain -code.zip-. Francesco Nori.
April 22nd. Easter holiday.
April 27nd. Easter holiday.
April 29th. CANCELLED.
May 4th. CANCELLED.
May 6th. CANCELLED.
May 11th. Hybrid position/force control. -notes(ita)-
May 13th. Constrained Manipulators (mass on a circle matlab code -code.zip-) and grasp types. -notes(ita)-
May 18th. Force closure conditions for different grasp types. -notes(ita)-
May 20th. Grasp planning conditions. -notes(ita)-
May 25th. Grasp kinematic constraints. -notes(ita)-
May 27th. Human finger force control (Gabriel Baud-Bovy). -slides(eng)-
Extra lesson. Computing grasping kinematics for planar chains -notes-. Francesco Nori.

Interesting papers used in previous courses:

    - M. Kawato.
          Internal models for motor control and trajectory planning.
          Current Opinion in Neurobiology 1999, 9:718–727. -pdf-
    - R. Poppele, G. Bosco.
          Sophisticated spinal contributions to motor control
          Trends in Neurosciences Vol.26 No.5 May 2003 -pdf-
    - P. Borroni, M. Montagna, G. Cerri, F. Baldissera.
          Cyclic time course of motor excitability modulation during the observation of a cyclic hand movement
          Brain Research 1065 (2005) 115 – 124. -pdf-
    - L. Fadiga, L. Craighero, G. Buccino, G. Rizzolatti.
          Speech listening specifically modulates the excitability of tongue muscles: a TMS study
          European Journal of Neuroscience, Vol. 15, pp. 399-402, 2002. -pdf-
    - L. Fadiga, L. Fogassi, V. Gallese, G. Rizzolatti.
          Visuomotor neurons: ambiguity of the discharge or ‘motor’ perception?
           International Journal of Psychophysiology 35, 2000. pp. 165-177 -pdf-
    - G. Rizzolatti, M. Arbib.
          Language within our grasp.
          Trends of Neuroscience. 1998. 21(5) pp. 188-194. -pdf-
   - R.C. Miall, D.M. Wolpert.
          Forward models of physiological motor control.
          Neural Networks Vol 9, Issue 8, 1265-1279, 1996 -pdf-

Optional and extra material

- See the Cognitive Humanoids Laboratory website, the LIRA-Lab and the RobotCub project home page.

- Part of the material presented in the second semester was taken from the book "A Mathematical Introduction to Robotic Manipulation" by Richard Murray, Zexiang Li and Shankar Sastry available here -pdf-.

Problem sets (past exams):

Januay 2011: exercise -pdf- and questions -pdf-

June 2007: -pdf-

January 2006: -pdf- outline of the solution -pdf- attached data sheet -pdf-

November 2005: -pdf- outline of the solution -pdf- attached data sheet -pdf- -pdf-

2005: compito2005.pdf

2004: compito2004.pdf

References

- R. Shadmehr and S.P. Wise. The computational Neurobiology of Reaching and Pointing. MIT Press. Cambrige - MA. 2005. ISBN 0-262-19508-9. (in particular, chapter 7 and 8)

- R.D. Klafter, T.A. Chmielewaski, M. Negin. Robotic Engineering, an integrated approach. Prentice-Hall International Ed. 1989. (some practicalities about robot control)

- Gazzaniga, M. S. The Cognitive Neurosciences. Cambridge: MIT-Press. 1996.

- Kandel, E. R., Schwartz, J. H., & Jessel, T. M. Principles of Neuroscience. Elsevier. 1991.

- Yoshikawa, T. Foundations of Robotics. The MIT Press, Cambridge MA, London UK. 1990. ISBN 0-262-24028-9.

- Rojas, R. Neural Networks, Springer, 1996.

- Arbib, M.A. (1995) The handbook of brain theory and neural networks. MIT Press.

- Bernstein, N.A. (1957) The coordination and regulation of movement. Pergamon Press.

- Morasso, P., Sanguineti, V. (1997) Self-organization, Cortical Maps and Motor Control. North Holland.

- Shepherd, G.M. (1998) The synaptic organization of the brain. Oxford University Press.

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