Robotica antropomorfa web site

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 13-15 (room B6), Friday 14-16 (room B6).
Second semester: Wednesday 16-18 (room B6), Thursday 11-13 (room B6).

Next exams:

Friday, Feb 5th, room E3, 9am-1pm.
Friday, Feb 26th, room E3, 9am-1pm.

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/

To contact Ugo Pattacini:
tel: 010-71781420
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 (September-December): 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, Sciavicco-Siciliano, chapter 2, partial slides from older course-
Oct 7th. Rototranslation matrices and forward kinematics (2h). Francesco Nori. -ref, Sciavicco-Siciliano, chapter 2-
Oct 9th. Forward kinematics, DH parameter representation with examples (2h). Francesco Nori. -ref, Sciavicco-Siciliano, chapter 2-
Oct 14th. Analytic examples of direct and inverse kinematics (2h). Ugo Pattacini. -ref, Sciavicco-Siciliano, chapter 2. Example: iCub DH parameters.
Oct 16th. Differential kinematics, derivatives of matrices, Jacobian, singularities (2h). Giorgio Metta. -ref, Sciavicco-Siciliano, chapter 3.
Oct 21th. Differential kinematics, inverses of Jacobians, redundant manipulators (2h). Giorgio Metta. -ref, Sciavicco-Siciliano, chapter 3.
Oct 23rd. Iterative methods for solving inverse kinematics (2h). Ugo Pattacini. - ref, Sciavicco-Siciliano, 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, Sciavicco-Siciliano, 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. Task-space models (2h). O Khatib - IEEE Journal of Robotics and Automation, 1987 -paper-. Francesco Nori.
Dec 2nd. Forward and inverse dynamics. Task-space 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 (March-June): syllabus and lecture notes

February 24th-25th. Neural control of movements (4h), Prof. Pietro Morasso -notes1-.
March 3rd-4th. 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 Fixed-Final-State and Open-Loop Control. Derivation of the minimum-jerk trajectory as an optimal control problem
(Ugo Pattacini) -notes-
April 21st. CANCELLED (Hannover-Genoa flight cancelled).
April 22nd. CANCELLED (Hannover-Genoa 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 muscle-limb 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. 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):

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. McGraw-Hill. 2000. ISBN 88-386-0874-1. (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 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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