
Anthropomorphic robotics website
A course for the bioengineering curricula 
Teaching: Pietro Morasso, Giorgio Metta, Francesco Nori, Ugo Pattacini
 Previous semester home page: click here
When and where:
First semester: Wednesday 1315 (room B6), Friday 1416 (room B6).
Second semester: Wednesday 1618 (room B6), Thursday 1113 (room B6).
Next exams:
 Friday, Feb 5th, room E3, 9am1pm.
 Friday, Feb 26th, room E3, 9am1pm.
To contact Pietro Morasso:
http://www.laboratorium.dist.unige.it/~piero
To contact Giorgio Metta:
tel: 0103532946 or 01071781411
email: pasa
(AT) liralab.it
web:
http://pasa.liralab.it
To contact Francesco Nori:
tel: 0103532946 or 01071781420
email: iron
(AT) liralab.it
web:
http://people.liralab.it/iron/
To contact Ugo Pattacini:
tel: 01071781420
email:
ugo.pattacini (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 (SeptemberDecember): syllabus and lecture notes
 Sep 30th. Introduction to the course (2h), Giorgio Metta slides
(6Mb!!).
 Oct 2nd. Rotation matrices, elemental rotations, properties and
definitions (2h), Giorgio Metta. ref, SciaviccoSiciliano, chapter 2,
partial slides from older course
 Oct 7th. Rototranslation matrices and forward kinematics (2h). Francesco
Nori. ref, SciaviccoSiciliano, chapter 2
 Oct 9th. Forward kinematics, DH parameter representation with examples
(2h). Francesco Nori. ref, SciaviccoSiciliano, chapter 2
 Oct 14th. Analytic examples of direct and inverse kinematics (2h). Ugo
Pattacini. ref, SciaviccoSiciliano, chapter 2. Example: iCub DH parameters.
 Oct 16th. Differential kinematics, derivatives of matrices, Jacobian,
singularities (2h). Giorgio Metta. ref,
SciaviccoSiciliano, chapter 3.
 Oct 21th. Differential kinematics, inverses of Jacobians, redundant
manipulators (2h). Giorgio Metta. ref, SciaviccoSiciliano, chapter 3.
 Oct 23rd. Iterative methods for solving inverse kinematics (2h). Ugo
Pattacini.  ref, SciaviccoSiciliano, chapter 3. Note on the use of null
space approach to deal with joints bounds (Liegeois). Example: geometric
Jacobian of a 3 dof planar manipulator (3.2.1); singularity in the
transposed Jabobian of the anthropomorphic manipulator (3.4).
 Oct 28th. Basic modeling of single joint, DC motor, amplifier,
controller, PID (2h). Giorgio Metta. slides
 Oct 30th. Inverse differential kinematics, statics (2h). Giorgio Metta.
ref, SciaviccoSiciliano, chapter 3.
 Nov 4th. CANCELLED.
 Nov 6th. Solving an exam exercise (2h). Ugo Pattacini.
 Nov 11th. Manipulability, Dynamics, Lagrange formulation (2h). Giorgio Metta.
 Nov 13th. Dynamics, properties of the manipulation models (2h). Giorgio
Metta.
 Nov 18th. Computing the dynamics of a two degrees of freedom planar
manipolandum: the Lagrange approach. Francesco Nori.
 Nov 20th. CANCELLED.
 Nov 25th. Dynamics: linearity of the dynamic parameters (2h). Francesco Nori.
 Nov 27th. Forward and inverse dynamics. Taskspace models (2h). O Khatib
 IEEE Journal of Robotics and Automation, 1987 paper. Francesco Nori.
 Dec 2nd. Forward and inverse dynamics. Taskspace models (2h). Francesco Nori.
 Dec 4th. Joint space control of a kinematic chain (2h). Francesco Nori.
 Dec 9th. CANCELLED(2h). Francesco Nori.
 Dec 11th. PD control with gravity compensation. Inverse dynamics
control. Robust control: first part (2h). Francesco Nori.
 Dec 16th. Robust control: second part. Adaptive control (2h). Francesco Nori.
 Dec 18th. CANCELLED. Francesco Nori.
 Jan 22nd. Extra lesson. Computing dynamics of simple 2DOF mechanisms notes. Francesco Nori.
Second semester (MarchJune): syllabus and lecture notes
 February 24th25th. Neural control of movements (4h), Prof. Pietro Morasso notes1.
 March 3rd4th. Neural control of movements (4h), Prof. Pietro Morasso
notes2.
 March 10th. Passive Motion Paradigm,
GNOSYS Reasoning architecture
(Growing neural Gas, sensorimotor maps) Mohan Vishwanathan notes3
(10Mb)
 March11th.
Perception and Synthesis of 'Shape'  Catastrope Theory,
Application of PMP for Imitation, Teaching iCub to draw.
Mohan Vishwanathan notes4 (4Mb) Ph.D.
thesis.
 March 17th. CANCELLED.
 March 18th. CANCELLED.
 March 24th. Calculus of variations for solving the minimum jerk problem
(Francesco Nori) notes
 March 25th. Calculus of variations: theory and derivation of the Euler
equations (Francesco Nori) notes
 March 31st. Calculus of variations: optimal control problems notes
 April 1st and April 7th. Easter vacation.
 April 8th. CANCELLED (RBCS melting pot day).
 April 14th. The Linear Regulator Problem (Ugo Pattacini). notes
 April 15th. The FixedFinalState and OpenLoop Control. Derivation of the minimumjerk trajectory as an optimal control problem
(Ugo Pattacini)
notes
 April 21st. CANCELLED (HannoverGenoa flight cancelled).
 April 22nd. CANCELLED (HannoverGenoa flight cancelled).
 April 28th. Compliance control. notes
 April 29th. Impedance control. notes
 May 5th. Hybrid position/force control. notes
 May 6th. Grasp statics. notes
 May 12th. Force closure. notes
 May 13th. CANCELLED.
 May 19th. Muscle model and simulation, Jacobian of the musclelimb
system. Giorgio Metta. slides,
notes
 May 20th. Muscle model (spindle & Golgi tendon organs), limb stability,
force field control. Giorgio Metta. slides
Read also paper by Poppele & Bosco linked below.
 May 26th. Grasp planning for achieving force closure. notes
 May 27th. Kinematic grasping constraints. notes
 June 18th. Exercise. notes
Papers in connection to classes (please read them, they're typically
useful):
 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. 399402, 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. 165177 pdf
 G. Rizzolatti, M. Arbib.
Language within our grasp.
Trends of
Neuroscience. 1998. 21(5) pp. 188194. pdf
 R.C. Miall, D.M. Wolpert.
Forward models of physiological motor
control.
Neural Networks Vol 9, Issue 8, 12651279, 1996 pdf
Optional and extra material
 See the Cognitive Humanoids
Laboratory
website, the LIRALab 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):
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
 L. Sciavicco and B. Siciliano. Robotica Industriale. Modellistica
e controllo di manipolatori, seconda edizione. McGrawHill. 2000. ISBN
8838608741. (main textbook for the first semester, also English version
available)
 R. Shadmehr and S.P. Wise. The computational Neurobiology of
Reaching and Pointing. MIT Press. Cambrige  MA. 2005. ISBN 0262195089.
(in particular, chapter 7 and 8)
 R.D. Klafter, T.A. Chmielewaski, M. Negin. Robotic Engineering, an
integrated approach. PrenticeHall International Ed. 1989. (some
practicalities about robot control)
 Gazzaniga, M. S. The Cognitive Neurosciences. Cambridge:
MITPress. 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 0262240289.
 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) Selforganization,
Cortical Maps and Motor Control. North Holland.
 Shepherd, G.M. (1998) The synaptic organization of the
brain. Oxford University Press.
@LIRAHome