Contenidos (Materials)
Perfilado de sección
-
-
- Read the general information provided at moodle about the course
- Read "Presentation and Introduction"
- Visit the links provided to get a better understanding of applications in assistive robotics: medical robotics, prostheses, companion, monitorization, and assistance.
- Read the paper:
Z. Erickson, V. Gangaram, A. Kapusta, C. K. Liu, and C. C. Kemp, “Assistive Gym: A Physics Simulation Framework for Assistive Robotics”, IEEE Int. Conf. on Robotics and Automation (ICRA), 2020.
- Install the software environment
-
W2: Read "Structure of the robot manipulators, drives, and sensors", and visit the links provided.
W3: Read "Spatial location: transformation matrices” and solve the exercises.
W4: Read “Geometric models” and solve the exercise.
W5 and W6: Read “Motion control and trajectory generation” and solve the exercise. Choose one of the papers from the given list. Read it and consider if it is more appropriate to use joint or cartesian trajectories.
W7 and W8: Solve the Work Assignment I: Modeling, motion control and trajectory generation of an exoskeleton arm or leg (Matlab & robotics toolbox).
-
-
W9 to W10: read "Visual Servoing". Pay attention to the concepts of 3D scene model, two-view geometry, stereo cameras, and control laws. Understand the Position-Based Visual Servoing problem.
W11 to W12: read “Image-Based Visual Servoing”. Observe the definition of targets. Understand the concepts of interaction matrix. Pay attention to the image-based visual control loop.
W13 to W14: Solve the Work Assignment II: Implementation and simulation of a robot performing an assistive task by means of visual servoing
-
-
-
- Complete Work Assignments I and II