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Information
| Code | CENG0060 |
| Name | Robot Manipulation |
| Term | 2023-2024 Academic Year |
| Term | Spring |
| Duration (T+A) | 3-0 (T-A) (17 Week) |
| ECTS | 6 ECTS |
| National Credit | 3 National Credit |
| Teaching Language | İngilizce |
| Level | Yüksek Lisans Dersi |
| Type | Normal |
| Mode of study | Yüz Yüze Öğretim |
| Catalog Information Coordinator | Dr. Öğr. Üyesi Barış ATA |
| Course Instructor |
1 |
Course Goal / Objective
Robot Manipulation is an advanced course that focuses on the analysis and control of robot manipulators, their kinematics, dynamics, and control.
Course Content
This course covers perception, state estimation, robot arm kinematics and dynamics, task and motion planning, machine learning, controls, and human-robot interaction toward various robot manipulation tasks.
Course Precondition
A background in mathematics is required, especially linear algebra and probability. Proficiency in C++ or Python is required.
Resources
"Robotic Manipulation: Perception, Planning, and Control” by R. Tedrake
Notes
“Mechanics of Manipulation” by Matthew T. Mason. “Modeling and Control of Robot Manipulators” by L. Sciavicco and B. Siciliano, Springer.
Course Learning Outcomes
| Order | Course Learning Outcomes |
|---|---|
| LO01 | Understand the principles of robotic kinematics and dynamics |
| LO02 | Explore motion planning techniques for robotic manipulation |
| LO03 | Learn various control strategies for robotic manipulation |
| LO04 | Develop critical thinking and problem-solving skills related to robotic manipulation |
Relation with Program Learning Outcome
| Order | Type | Program Learning Outcomes | Level |
|---|---|---|---|
| PLO01 | Bilgi - Kuramsal, Olgusal | On the basis of the competencies gained at the undergraduate level, it has an advanced level of knowledge and understanding that provides the basis for original studies in the field of Computer Engineering. | 4 |
| PLO02 | Bilgi - Kuramsal, Olgusal | By reaching scientific knowledge in the field of engineering, he/she reaches the knowledge in depth and depth, evaluates, interprets and applies the information. | 3 |
| PLO03 | Yetkinlikler - Öğrenme Yetkinliği | Being aware of the new and developing practices of his / her profession and examining and learning when necessary. | 2 |
| PLO04 | Yetkinlikler - Öğrenme Yetkinliği | Constructs engineering problems, develops methods to solve them and applies innovative methods in solutions. | 2 |
| PLO05 | Yetkinlikler - Öğrenme Yetkinliği | Designs and applies analytical, modeling and experimental based researches, analyzes and interprets complex situations encountered in this process. | 4 |
| PLO06 | Yetkinlikler - Öğrenme Yetkinliği | Develops new and / or original ideas and methods, develops innovative solutions in system, part or process design. | |
| PLO07 | Beceriler - Bilişsel, Uygulamalı | Has the skills of learning. | 2 |
| PLO08 | Beceriler - Bilişsel, Uygulamalı | Being aware of new and emerging applications of Computer Engineering examines and learns them if necessary. | 1 |
| PLO09 | Beceriler - Bilişsel, Uygulamalı | Transmits the processes and results of their studies in written or oral form in the national and international environments outside or outside the field of Computer Engineering. | |
| PLO10 | Beceriler - Bilişsel, Uygulamalı | Has comprehensive knowledge about current techniques and methods and their limitations in Computer Engineering. | 1 |
| PLO11 | Beceriler - Bilişsel, Uygulamalı | Uses information and communication technologies at an advanced level interactively with computer software required by Computer Engineering. | 2 |
| PLO12 | Bilgi - Kuramsal, Olgusal | Observes social, scientific and ethical values in all professional activities. | 2 |
Week Plan
| Week | Topic | Preparation | Methods |
|---|---|---|---|
| 1 | Anatomy of a manipulation system | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 2 | Basic pick and place: Differential kinematics and trajectories | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 3 | Basic pick and place: Differential kinematics via optimization | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 4 | Geometric perception: Cameras, point clouds, and registration | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 5 | Geometric perception: Partial views and outliers | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 6 | Simulation basics | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 7 | Antipodal grasping | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 8 | Mid-Term Exam | Reading the lecture notes | Ölçme Yöntemleri: Yazılı Sınav |
| 9 | Deep Perception: Object recognition and segmentation | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 10 | Deep Perception: Perceptual representations for manipulation | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 11 | Motion planning | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 12 | Force Control | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 13 | Manipulator Control | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 14 | Task-and-motion planning | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 15 | Review | Reading the lecture notes | Öğretim Yöntemleri: Soru-Cevap |
| 16 | Term Exams | Reading the lecture notes | Ölçme Yöntemleri: Yazılı Sınav |
| 17 | Term Exams | Reading the lecture notes | Ölçme Yöntemleri: Yazılı Sınav |
Student Workload - ECTS
| Works | Number | Time (Hour) | Workload (Hour) |
|---|---|---|---|
| Course Related Works | |||
| Class Time (Exam weeks are excluded) | 14 | 3 | 42 |
| Out of Class Study (Preliminary Work, Practice) | 14 | 5 | 70 |
| Assesment Related Works | |||
| Homeworks, Projects, Others | 0 | 0 | 0 |
| Mid-term Exams (Written, Oral, etc.) | 1 | 14 | 14 |
| Final Exam | 1 | 28 | 28 |
| Total Workload (Hour) | 154 | ||
| Total Workload / 25 (h) | 6,16 | ||
| ECTS | 6 ECTS | ||