Introduction to robotics

In this course, the basic concepts of geometric and kinematic robot modeling, as well as trajectory planning on articulated and mobile robots, will be presented. The aim is to provide an overview of the issues involved in modeling and control, as well as practical implementation on real hardware.

Program:


Fundamental notions of robotics: mechatronics, modeling, kinematics and dynamics, planning. The aim is to understand what defines a robot, to produce a geometric and physical model of it, and to approach classic control techniques.
Direct and inverse geometric model of articulated robots
Kinematic model (mobile robot)
Trajectory generation in operational space (interpolations)
Locomotion of legged robots
Use of physical simulator
Experiments on real robots



Assessment
To assess knowledge, students will be asked to submit an (individual) assessed project at the end of the course. Ideally (health conditions permitting), the project will be carried out on hexapod or quadruped robots. In the worst case (distance learning), the project will be carried out in the form of a simulation.

Program:


Fundamentals of robotics: mechatronics, modeling, kinematics and dynamics, planning. The aim is to understand what defines a robot, to produce a geometric and physical model and to approach classic control techniques.
Direct and inverse geometric model of articulated robots
Kinematic model (mobile robot)
Trajectory generation in operational space (interpolations)
Locomotion of legged robots
Use of physical simulator
Experiments on real robots

Robotics, modeling, control