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Information
| Code | CENG0064 |
| Name | Advanced Topics in 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 | Doktora Dersi |
| Type | Normal |
| Mode of study | Yüz Yüze Öğretim |
| Catalog Information Coordinator | Dr. Öğr. Üyesi Barış ATA |
| Course Instructor |
1 |
Course Goal / Objective
This course is intended for students who have a strong background in robotics and want to delve deeper into the field of robot manipulation. Students will gain hands-on experience with state-of-the-art software tools for robot manipulation, and they will be expected to complete a research project.
Course Content
This course covers advanced topics in robot manipulation, including dexterous manipulation, in-hand manipulation, and hybrid manipulation. Topics also include contact modeling and estimation, grasp planning and synthesis, and object manipulation under uncertainty.
Course Precondition
Undergraduate-level courses in robotics, mathematics, and computer science Graduate-level courses in robotics and control theory.
Resources
"Planning Algorithms" by S. M. LaValle “A Mathematical Introduction to Robotic” by R. Murray, Z. Li, and S. Sastry
Notes
“Springer Handbook of Robotics” by B. Siciliano and O. Khatib Research papers and articles on advanced topics in robot manipulation
Course Learning Outcomes
| Order | Course Learning Outcomes |
|---|---|
| LO01 | Analyze and model robot manipulators, including kinematics and dynamics |
| LO02 | Develop advanced control strategies for robot manipulation tasks |
| LO03 | Plan and execute robot manipulation tasks in simulation environments |
| LO04 | Implement perception algorithms for robot manipulation tasks |
| LO05 | Conduct original research in the field of robot 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 | Introduction to Robot Manipulation | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 2 | Robot Motion Planning | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 3 | Trajectory Generation and Control | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 4 | Grasping and Manipulation | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 5 | Robot Perception | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 6 | Vision-Based Manipulation | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 7 | Force and Tactile Feedback | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 8 | Mid-Term Exam | Reading the lecture notes | Ölçme Yöntemleri: Yazılı Sınav |
| 9 | Human-Robot Interaction | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 10 | Robot Learning | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 11 | Multi-Robot Manipulation | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 12 | Robot Perception for Manipulation | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 13 | Advanced Topics in Robot Manipulation | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 14 | Research Project Presentations | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 15 | Research Project Presentations II | Reading the lecture notes | Öğretim Yöntemleri: Anlatım |
| 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 | ||