The goal of this course is to deepen the participant's a understanding of modeling different mobile platforms of the accompanying lecture on selected examples. Once a model is derived in view of its kinematics and dynamics, different control schemes can be applied. We will cover mobile robots platforms from legged, wheeled, fix-wing, and rotary wing. At the end of the course, the student will be able to define and program the model of such platform and a corresponding simple controller.

Weekly exercise sheets with presentation and discussion by the students. 

Coordinate transformations (including rotation matrices, quaternions, Euler angles, etc)Kinematics and dynamics of robot armsModeling and control of legged robotsWheeled robots including wheel contstraints and simple control schemePath planning methods for ground robotsDynamics, modeling, and control of fix-wing airplanesDynamics, modeling, and control of rotary-wing helicopters

AnalysisLinear AlgebraControl theory, system theoryFundamentals of roboticsBasic knowledge in Matlab programming

         

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Monthly exercise reports In-class participationOral talk at the end of semester

All contents taught in the corresponding lecture.

The number of submitted exercises will directly reflect the grade received ranging from 1-5, with 50 % of all exercise points needed for passing this lecture.  Additionally an oral talk at the end of the semester will contribute to 15% of the final grade.