COMPGX03 - Robotic Sensing, Manipulation and Interaction
This database contains 2016-17 versions of the syllabuses. For current versions please see here.
|Taught By||Mandayam Srinivasan and Vijay Pawar|
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.
Students successfully completing the module should understand:
1. Multi—modal sensing and force feedback mechanisms
2. Haptics and feedback control systems
Programming with Matlab or Python or C++ and ROS.
- 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.
The course has the following assessment components: