5.00 credits
30.0 h + 30.0 h
Q2
Teacher(s)
Ronsse Renaud;
Language
English
Prerequisites
Students are expected to master the following skills: basic knowledge in description and analysis of mechanisms, and linear control, as they are covered within the courses LMECA1210 and LINMA1510.
Main themes
Robotics is a field requiring the integration of multiple fields of expertise. Robot design requires indeed integrating a mechanical structure, one or several actuators, one or several sensors, and a controller governing the robot behavior. This controller has also to be implemented by using the dedicated IT tools.
Historical robotics applications were mostly developed for the industry, in the late 70s. The goal of industrial robotics is automatization of fabrication processes, targeting the increase of productivity.
Later on, robotics further penetrated other application fields, characterized by unpredictable environments (while an industrial operation zone is usually unchanging and predictable). Therefore, these robots have to adapt their behavior in response to changes in the interactions with the environment. Such applications are:
Historical robotics applications were mostly developed for the industry, in the late 70s. The goal of industrial robotics is automatization of fabrication processes, targeting the increase of productivity.
Later on, robotics further penetrated other application fields, characterized by unpredictable environments (while an industrial operation zone is usually unchanging and predictable). Therefore, these robots have to adapt their behavior in response to changes in the interactions with the environment. Such applications are:
- Mobile robots (wheeled and legged robots), evolving on unknown and potentially irregular terrains.
- Surgical robots, assisting the surgeon to reach difficult body regions, to perform very accurate gestures (out of standard human capacities), etc.
- Rehabilitation robots, assisting patients with motor deficits to recover part of their autonomy.
- Companion robots, providing various services like load transport, guide in a museum, etc. to one or several persons.
Learning outcomes
At the end of this learning unit, the student is able to : | |
| 1 | In consideration of the reference table AA of the program "Masters degree in Electromechanical Engineering", this course contributes to the development, to the acquisition and to the evaluation of the following experiences of learning:
a. Disciplinary Learning Outcomes At the end of this course, students will be able to:
At the end of this course, students will be able to:
|
Content
The course covers the following chapters:
- Introduction
- Mobile robot kinematics
- Mobile robot planning and control
- Mobile robot localization
- Real-time programming of (mobile) robots
- Robot-specific operating systems
- Kinematic modeling and trajectory planning of industrial robots
- Robot sensors
- Dynamics
- Robot control
- Force and impedance control
- Ethics in robotics
- Humanoid robotics
- Q&A and conceptual map
Teaching methods
The course follows a straight path, starting with trajectory planning, the derivation of models, and ending with lectures on control and programming. The lectures specific to mobile robots are given early enough to be useful for the integrated project in mechatronics (LELME2002). One course on robot ethics given by an invited teacher is organized around S10. More open lectures on service robots, etc. are given at the end of the course.
On top of that, a project about mobile robotics is organized. This project is completed by groups of 4-6 students.
On top of that, a project about mobile robotics is organized. This project is completed by groups of 4-6 students.
Evaluation methods
The final grade is obtained as follows:
- The final in-session exam counts for 60% of the overall grade. This exam is written and includes both theoretical questions and exercises, similar to those done during the year and in the PBL. No references are allowed during the exam.
- A "problem-based learning" (PBL) project in mobile robotics is carried out during the semester, in groups of 4-6 students, in order to apply the theoretical concepts of the course to a concrete example. The grade obtained for this project counts for 40% of the final grade.
- Finally, at the end of a few lectures, a short online quiz will be offered, on a topic covered during the lecture itself. If the average score obtained on these quizzes is at least equal to 14/20, the student will receive one bonus point (/20) on the final evaluation grade.
Other information
Basic skills in C programming are recommended for this course
Online resources
Moodle ( http://moodle.uclouvain.be/course/view.php?id=5143) is used for:
- Managing/answering the small on-line questionnaires provided at the end of some lectures.
- Broadcasting general information related to the course.
- Providing all lecture slides and necessary references.
- Managing a forum discussing/answering the questions asked by the students
Bibliography
The two main references for the course are the books:
Chapters from other books are provided as complementary material for some specific lectures. The main reference for complementary materials is:
- "Introduction to Autonomous Mobile Robots" (http://www.mobilerobots.ethz.ch/) by Roland Siegwart et al.;
- "Robot Modeling and Control" (https://www.wiley.com/en-us/Robot+Modeling+and+Control%2C+2nd+Edition-p-9781119524045) by Mark W. Spong et al.
Chapters from other books are provided as complementary material for some specific lectures. The main reference for complementary materials is:
- "Springer Handbook of Robotics", 2nd edition (the 'bible' of robotics, http://www.springer.com/us/book/9783319325507) by Bruno Siciliano and Oussama Khatib (Eds.).
Teaching materials
- Lecture slides
Faculty or entity
ELME
