Advanced control approaches for manipulation and locomotion: Compliant Motion Control, Hybrid Force/Position Control, Cartesian impedance- and admittance control, Passivity-based adaptive control in robotics, FDIR (Fault Detection, Identification, and Recovery), Disturbance observers, robot safety, grasping, Micro-Macro-Manipulation, Hierarchic control of multiple tasks, Operational Space Formulation, Elastic robots, Template models and ground reference points in locomotion: Zero Moment Point, Center-of-Pressure, Capture Point, Gait stabilization, Limit cycle analysis for passive dynamic walkers, Hybrid zero dynamics.
The material is presented on the blackboard and with slides. To deepen, reinforce, and practically apply the material, computation exercises and simulations using the software Matlab/Simulink will be conducted.
The examination modalities contain the submission of exercises as well as the implementation of a control problem under supervision of the teaching assistants based on an existing scientific publication. The implementation and results of the control problem will be reported by a short written abstract and a short oral presentation.