Postgraduate Course: Robotics: Science and Systems (INFR11092)
This course will be closed from 31 July 2022
Course Outline
| School | School of Informatics |
College | College of Science and Engineering |
| Credit level (Normal year taken) | SCQF Level 11 (Postgraduate) |
Availability | Available to all students |
| SCQF Credits | 20 |
ECTS Credits | 10 |
| Summary | This course will be a Masters degree level introduction to the core areas in robotics: kinematics, dynamics and control; state estimation and signal processing; digital control systems; robot motion planning and localization. Lectures on these topics will be complemented by a lab practical that exercises knowledge of a cross section of these techniques on an integrated humanoid robot in the lab, motivated by a task such as robot manipulation.
Particularly, in order to bridge the lectures on algorithms and lab sessions, the course also provides tutorials dedicated to the practice of programming and the implementation of algorithms - from the equations to code.
The aim of the course is to present a unified view of the field, culminating in a practical involving the development of an integrated robotic system that embodies the key elements of the major algorithmic techniques that are used in real-world robotic applications. |
| Course description |
The main coverage of topics is as follows:
- Kinematics - forward and inverse
- Dynamics - equation of motions and the state space representation
- Control - classical and modern control theories & techniques
- Sensing - single processing, filtering
- Robot motion planning
- Multi-modal sensor fusion and state estimation
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Entry Requirements (not applicable to Visiting Students)
| Pre-requisites |
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Co-requisites | |
| Prohibited Combinations | Students MUST NOT also be taking
Introduction to Vision and Robotics (INFR09019) OR
Intelligent Autonomous Robotics (Level 10) (INFR10005)
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Other requirements | This course is open to all Informatics students including those on joint degrees. For external students where this course is not listed in your DPT, please seek special permission from the course organiser (lecturer).
Knowledge of multivariate calculus, linear algebra and matrix manipulations, basic notions of statistics and probability theory. General programming competence is required and the course will use Python and other in a Linux environment, and use GIT for version control. |
Information for Visiting Students
| Pre-requisites | None |
| High Demand Course? |
Yes |
Course Delivery Information
| Not being delivered |
Learning Outcomes
On completion of this course, the student will be able to:
- Model the motion of robotic systems in terms of kinematics and dynamics;
- Analyse and evaluate a few major techniques for feedback control and motion planning applied to robotics;
- Translate a subset of standard algorithms for kinematics, motion planning, and robot feedback control into practical implementations;
- Implement and evaluate a working, fully operational robotic system involving elements of robot control and motion planning.
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Reading List
1. Franklin, Gene F., et al. Feedback control of dynamic systems. Vol. 3. Reading, MA: Addison-Wesley, 1994.
2. Peter Corke, Robotics, Vision and Control, Springer-Verlag.
3. Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G., Robotics: Modelling, Planning and Control, Springer Verlag.
4. H. Choset, K.M. Lynch, S. Hutchinson, G. Kantor, Principles of Robot Motion: Theory, Algorithms, and Implementations.
5. S. Thrun, W. Burgard and D. Fox, Probabilistic Robotics.
6. J. J. Craig, Introduction to Robotics: Mechanics and Control (3rd Edition): Use for first 3 chapters only.
7. Yoshihiko Nakamura, Advanced Robotics: Redundancy and Optimization.
8. J.M. Maciejowski, Predictive control: with constraints.
9. Ian Goodfellow, et al., Deep Learning. |
Contacts
| Course organiser | Dr Zhibin Li
Tel:
Email: Zhibin.Li@ed.ac.uk |
Course secretary | Ms Lindsay Seal
Tel: (0131 6)50 2701
Email: lindsay.seal@ed.ac.uk |
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