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COMPGX03 - Robotic Sensing, Manipulation and Interaction

This database contains the 2017-18 versions of syllabuses. Syllabuses from the 2016-17 session are available here.

Note: Whilst every effort is made to keep the syllabus and assessment records correct, the precise details must be checked with the lecturer(s).

Code COMPGX03
Year MSc
Prerequisites None
Term 1
Taught By Mandayam Srinivasan and Vijay Pawar
Aims

To make sure students are familiar with various concepts in robotic sensing and manipulation and to give them a working knowledge of haptic interfaces and haptic control. These concepts will be used to teach students the principles and practical implementation of a tele-manipulation system involving a user interface, end-effector and a haptic or visual display unit.

Learning Outcomes

Students successfully completing the module should understand: 

1. Multi—modal sensing and force feedback mechanisms

2. Haptics and feedback control systems

3. Tele-manipulation

Programming with Matlab or Python or C++ and ROS.

Content

For robots to safely manipulate objects and work collaboratively with  humans, they must have the ability to understand their surroundings using a range of multi-modal sensing and cognitive control strategies. By building different types of feedback systems, we will outline how to design robotics systems with capabilities such as localising objects in their environment. visual and haptic servoing, teleoperation, safety control features etc. to then perform manipulations collaboratively with other actors (robots and humans). Further, we will also discuss the design and testing of these control strategies in the context of different real-world scenarios such as robotic manufacturing, surgery and biomanipulation examples in the life sciences. Topics we will cover include:
• Introduction to feedback control systems
• Multi-modal robotic sensing and control
• Robot collaborative working and interaction (teleoperation to full autonomous interaction)
• Manipulation and mechanics of manipulation
• Testing and deployment strategies in different application domains (e.g. biology to manufacturing)

Method of Instruction

Lectures and lab classes. Prof Mandayam A. Srinivasan and Dr Vijay M Pawar will deliver lecture classes. In addition, labs will use graduate demonstrators.

Assessment

The course has the following assessment components:

  • Coursework (100%)

Resources

Reading list available via the UCL Library catalogue.