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Identical coursesAdvanced Robot Control Systems (B-KUL-H06U9B)
Cannot be taken as part of an examination contract
Detry Renaud (coordinator) | Badri-Spröwitz Alexander | Bruyninckx Herman | Detry Renaud Aims
Students will learn what are the fundamental components of advanced robot control systems, and how the robot must/can interact with its environment, and with the task it has to perform.
Students will achieve insight in what are solved problems, and where the tough research and innovation challenges lie, in the various complementary aspects of an advanced robot control system: kinematics, control, estimation, modelling, perception, and systems-level software engineering.
Students will make their own "robot skill", to let a robot execute a task, or rather, to let it coordinate the execution of several tasks at the same time. A variety of platforms will be made available (mobile robots, serial arms, legged robots) with an embedded Linux computer as their "brain".
Previous knowledge
As a baseline, this course expects students to be familiar with beginning Master-level basics of engineering systems: control theory, kinematics, dynamics, programming, probability theory. Students who have successfully finished the "Embedded Control Systems" course are eligible. Other students are welcome to reach out to the course organizers to discuss whether their expertise (eg in computer vision, in Linux, programming in C, and usage of the Git source code revision system) is sufficient to take this course. Electrical Engineering students, in particular, are encouraged to reach out to the lecturers and discuss their participatation in the course.
Order of Enrolment
Mixed prerequisite:
You may only take this course if you comply with the prerequisites. Prerequisites can be strict or flexible, or can imply simultaneity. A degree level can be also be a prerequisite.
Explanation:
STRICT: You may only take this course if you have passed or applied tolerance for the courses for which this condition is set.
FLEXIBLE: You may only take this course if you have previously taken the courses for which this condition is set.
SIMULTANEOUS: You may only take this course if you also take the courses for which this condition is set (or have taken them previously).
DEGREE: You may only take this course if you have obtained this degree level.
(SIMULTANEOUS(H04P5A) AND ( FLEXIBLE(H04X3A ) OR FLEXIBLE(H04X3B ) )) OR ( SIMULTANEOUS(H00R9A) AND ( FLEXIBLE(H00S3A) OR FLEXIBLE(H00S4A ) ) )
The codes of the course units mentioned above correspond to the following course descriptions:
H04X3A : Control Theory
H04X3B : Systems and Control Theory
H00S3A : Regeltechniek
H00S4A : Systeemanalyse en regeltechniek
H04P5A : Embedded Control Systems
H00R9A : Embedded Control Systems
Is included in these courses of study
- Master in de ingenieurswetenschappen: werktuigkunde (programma voor studenten gestart vóór 2024-2025) (Leuven) 120 ects.
- Master in de ingenieurswetenschappen: werktuigkunde (programma voor studenten gestart vóór 2024-2025) (Leuven) (Optie: mechatronica en robotica) 120 ects.
- Master in de ingenieurswetenschappen: werktuigkunde (programma voor industrieel ingenieurs of master industriële wetenschappen - aanverwante richting) (programma voor studenten gestart vóór 2023-2024) (Leuven) 120 ects.
- Master in de ingenieurswetenschappen: werktuigkunde (programma voor industrieel ingenieurs of master industriële wetenschappen - aanverwante richting) (programma voor studenten gestart vóór 2023-2024) (Leuven) (Optie: mechatronica en robotica) 120 ects.
- Courses for Exchange Students Faculty of Engineering Science (Leuven)
- Master of Mechanical Engineering (Leuven) 120 ects.
- Master of Mechanical Engineering (Leuven) (Module: Mechatronics & Robotics) 120 ects.
- Master of Mechanical Engineering (Programme for Engineering Technology Students) (Leuven) 120 ects.
- Master of Mechanical Engineering (Programme for Engineering Technology Students) (Leuven) (Module: Mechatronics & Robotics) 120 ects.
Activities
2 ects. Advanced Robot Control Systems: Lecture (B-KUL-H06U9a)
Content
The following aspects of robot systems are introduced: kinematics and dynamics, control, task and motion specification, sensor-based world perception and task execution monitoring. A system-level insight is emphasised.
This course is organized as guided self study: there are only a handful of lectures in class, and for the rest of the course the students work (individually) on a project of their own choice. That project is chosen after consulting the lecturers. The students can opt for a rather theoretical course (discussing papers), or for a software project (studying a concrete robotics algorithm and implementing it in simulation or in an existing robot). However, all students will have to follow two hands-on sessions, on a real robot system.
Course material
The lecturers provide some partial lecture notes, that each student will have to complement with literature searches, focused on the specific topics of the chosen project. Students should give a critical evaluation of the information resources that they use in each of the interactive sessions.
Format: more information
During the project, each student is expected to interact with the lecturers and other students during the lectures, on the course's mailing list, or by requesting individual meetings and/or relevant literature. In those interactions, students explain the material that has been prepared, and critically discuss it with the lecturers and other students. Students get ample and immediate feedback, in order to accelerate their learning, and to prevent surprises in the evaluation.