Teaching: Pietro Morasso, Giorgio Metta, Francesco Nori

- Previous semester home page: click here

When and where: Monday 12-14 (room B6), Friday 14-16 (room B6).

Next exams:

• To be determined.

To contact Pietro Morasso:
     http://www.laboratorium.dist.unige.it/~piero

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/

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)

Part 1 syllabus and lecture notes (by Francesco Nori and Giorgio Metta)

Done:

• September 22^nd 2008. Introduzione generale (Francesco Nori)
  • Introduction to the research topics at the Italian Institute of Technology
  • Brief introduction to the concept of forward kinematic models
  • Brief introduction to the concept of forward dynamic models
• September 26^th 2008. (Francesco Nori)
  • Central nervous system: forward and inverse dynamic and kinematic internal models
       - F. Mussa-Ivaldi, E. Bizzi
            Motor leaning through the combination of primitives.
            Phil. Trans. R. Soc. Lond. 355 (2000) pp. 1755-1769. -pdf-
      - J. Krakauer.
            Independent learning of internal models for kinematic and dynamic control of reaching.
            Nat Neurosci. 1999 Nov;2(11):1026-31. -pdf-
      -  J. R. Flanagan and A. K. Rao
            Trajectory adaptation to a nonlinear visuomotor transformation: evidence of motion planning in visually perceived space
            Journal of Neurophysiology, Vol 74, Issue 5 2174-2178 -pdf-
      - Reza Shadmehr and Ferdinando A. Mussa-Ivaldi.
            Adaptive Representation of Dynamic During Learning of a Motor Task
           Journal of Neuroscience, May 1994, 14:3208-3224. -pdf-
• September 29^th 2008. (Francesco Nori) Slides in pdf.
  • Forward kinematic of a manipulator.
  • Jacobian of a manipulator.
  • Point of singularity.
• October 3^rd 2008. (Francesco Nori) Slides in pdf.
  • PD control of a kinematic chain
  • A simple solution of the spinal field synthesis problem.
• October 6^th 2008. (Francesco Nori) Slides in pdf.
  • Dynamics of a manipulator.  
  • Euler-Lagrange approach to the computation of the forward dynamics
  • Example: planar two degrees of freedom manipulator
• October 10^th 2008.(Francesco Nori)
  • Task space approach. Slides in pdf.
• October 13^th 2008.(Francesco Nori)
  • Properties of the task space dynamics and trajectory tracking. Slides in pdf.
• October 24^th 2008.(Francesco Nori)
  • Exercises.
• December 15th, 2008 (Giorgio Metta)
  • Modeling and control of a single joint. Slides in pdf.
  • Example of motor from catalogue -pdf-
• December 19th, 2008 (Giorgio Metta)
  • Modeling and control of a single joint. Slides in pdf.

Extra (last semester notes, optional)

1. Introduction: robotics and neuroscience. -slides (6Mb)-
   A few papers on the topic:
       - 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-
2. Introduction (further).
       - P. Fitzpatrick, G. Metta.
             Grounding Vision Through Experimental Manipulation.
             Philosophical Transactions of the Royal Society: Mathematical, Physical, and Engineering Sciences
             361:1811, pp. 2165-2185. 2003. -pdf-
3. Also:
       - Kinematics of multi-joint structures. -slides in pdf-

Optional material part 1

- See LIRA-Lab website and the RobotCub project home page.

A paper on the artificial vestibular system
- F. Panerai, G. Metta, G. Sandini. Visuo-inertial stabilization in space-variant binocular sytems. Robotics and autonomous systems 30 (issue 1-2), 2000. pp. 195-214. -pdf-

Problem sets (past exams):

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.D. Klafter, T.A. Chmielewaski, M. Negin. Robotic Engineering, an integrated approach. Prentice-Hall International Ed. 1989. (*)

- Gazzaniga, M. S. The Cognitive Neurosciences. Cambridge: MIT-Press. 1996. Capitolo 38. (*)

- Kandel, E. R., Schwartz, J. H., & Jessel, T. M. Principles of Neuroscience. Elsevier. 1991. (*) Capitoli 36 e 37.

- Yoshikawa, T. Foundations of Robotics. The MIT Press, Cambridge MA, London UK. 1990. (*)

(*) available at LIRA-Lab.

Syllabus part 2

References

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