Assistive Robotics is an optional subject of 3 ECTS credits. Students are expected to spend 75 hours to successfully pass the course, including aprox. 30 "in-class" like activities (lecture, problem solving and cases, lab sessions, practical work or practical research), plus aprox. 45 additional hours of "autonomous work".

Suggested global schedule: 

For a semester with around 15 weeks of classes:

  • A single two-hour class session is scheduled each week. The content of each session will be devoted to "in-class" activities (lecture, problem solving and cases, lab sessions, practical work or practical research).
  • Each week, students are expected to employ additionally three hours of "autonomous work" to advance in their exercises.

Syllabus:

[Week W1] Presentation and Introduction.

W1 Introduction to assistive robotics.

W1 Applications in assistive robotics: medical robotics, prostheses, companion, monitorization, and assistance.

[Weeks W2 to W8] Part I. Robotic Manipulators.

W2 Structure of the robot manipulators, drives, and sensors.

W3 Spatial location: transformation matrices.

W4 Geometric models.

W5 to W6 Motion control and trajectory generation.

W7 to W8 Work assignment I: Trajectory generation for exoskeletons- modeling and motion control of an exoskeleton arm or leg.

[Weeks W9 to W14] Part II. Visual Servoing.

W9 to W10 Position-Based Visual Servoing. 3D scene model, two-view geometry, stereo cameras. Control laws.

W11 to W12 Image-Based Visual Servoing.  Definition of targets. Interaction matrix. Image-based visual control loop.

W13 to W14 Work assignment II: Implementation and simulation of a robot performing an assistive task by means of visual servoing.

[Week W15] Advanced concepts of Visual Servoing: Hybrid Visual Servoing and Stability Analysis

 Schedule:

    In order to properly advance in the course, approx. two weeks after the end of each part, students should have finished the work assignment associated with this part: Brief report (about 2500 words), code of the exercises and lab assignments, and a video (up to 10’) with their presentation.

        [Week W9] Work assignment I: Trajectory generation for exoskeletons- modeling and motion control of an exoskeleton arm or leg

        [Week W15] Work assignment II: Implementation and simulation of a robot performing an assistive task by means of visual servoing


Última modificación: martes, 17 de junio de 2025, 21:28