Programmierung und Regelung für Mensch-Roboterinteraktion

IN2308Supplementary Courses5 ECTSEnglishwinter semesterDepartment Computer Engineering

AI-edited module sheet. Based on the TUMonline module description, edited for readability.Original in TUMonline

What it is about

You deal with programming and control engineering for human-robot interaction. You will learn robotic modeling, various control strategies and their implementation in simulations and on the KUKA‑DLR lightweight robot, including practical testing and demonstrations.

What you will be able to do

Robot models and parameter identification
Position control
Torque control
Cartesian impedance control
Collision detection
Reactive path generation
State machines for task programming
Practical experience with torque-controlled, compliant robotic systems

What the module consists of

LectureConveying the theoretical foundations and demonstrations
Supervised teamworkImplementation of project tasks and collaborative work on practical problems
Individual simulation workIndependent implementation and testing of control algorithms in simulation
Block sessionsIntense simulation and implementation phases, including practical exercises
ExcursionVisit to the AUTOMATICA trade fair and the DLR stand to complement practical insights

Teaching method

LectureIntroduction to theory and concepts
Supervised teamworkApplication of concepts to project tasks and promotion of cooperation
Individual simulation workIndependent development and testing of controls in simulation
Block formatConcentration on implementation and practical exercises in compact units
ExcursionInsight into current robotics demonstrations and practical examples

What you should already know

Introduction to robotics, IN2067 Roboticsrecommended

Assessment

Project workoralPresentationWritten assignment

The examination consists of a project work with an oral component. Understanding of theoretical concepts and application to typical practical problems are demonstrated. Assessed are: the written part of the simulation and control tutorial, simulation results, programming results on the robot, final presentation and discussion, and participation during the project.

Reading list

C. Ott - Cartesian Impedance Control of Redundant and Flexible-Joint Robots (Springer Tracts in Advanced Robotics, Vol. 49, 2008)
Albu‑Schäffer, C. Ott, G. Hirzinger - A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots (Int. Journal of Robotics Research, Vol. 26, No. 1)

Dates

LectureProgrammierung und Regelung für Mensch-Roboterinteraktion (IN2308)

Wed10:00–12:00
Hörsaal im Galileo nur Mo-Do 7-19 Uhr (8120.EG.001)
8× · 14.10.–02.12.
- 14.10.
- 21.10.
- 28.10.
- 04.11.
- 11.11.
- 18.11.
- 25.11.
- 02.12.

ExerciseÜbung Programmierung und Regelung für Mensch-Roboterinteraktion (IN2308)6 groups to choose from

ATue09:00–12:00
03.09.034, Praktikumsraum (5609.03.034)
3× · 24.11.–08.12.
- 24.11.
- 01.12.
- 08.12.
ATue09:00–12:00
Externer Ort (siehe Anmerkung)
6× · 15.12.–02.02.
- 15.12.
- 22.12.
- 12.01.
- 19.01.
- 26.01.
- 02.02.
BTue13:00–16:00
03.09.034, Praktikumsraum (5609.03.034)
3× · 24.11.–08.12.
- 24.11.
- 01.12.
- 08.12.
CTue13:30–16:30
Externer Ort (siehe Anmerkung)
6× · 15.12.–02.02.
- 15.12.
- 22.12.
- 12.01.
- 19.01.
- 26.01.
- 02.02.
DWed09:00–12:00
03.09.034, Praktikumsraum (5609.03.034)
3× · 25.11.–09.12.
- 25.11.
- 02.12.
- 09.12.
DWed09:00–12:00
Externer Ort (siehe Anmerkung)
6× · 16.12.–03.02.
- 16.12.
- 23.12.
- 13.01.
- 20.01.
- 27.01.
- 03.02.
EWed13:00–16:00
03.09.034, Praktikumsraum (5609.03.034)
3× · 25.11.–09.12.
- 25.11.
- 02.12.
- 09.12.
FWed13:30–16:30
Externer Ort (siehe Anmerkung)
6× · 16.12.–03.02.
- 16.12.
- 23.12.
- 13.01.
- 20.01.
- 27.01.
- 03.02.

From the current semester, not binding. You attend one of several groups; the timetable automatically suggests the one with the fewest clashes.

Show TUMonline data

Sprache: Englisch
Turnus: Wintersemester
Modulniveau: Master
Moduldauer: Einsemestrig
Gesamtstunden: 150
Präsenzstunden: 60
Eigenstudiumstunden: 90
Organisationsname: Department Computer Engineering

Courses

Programmierung und Regelung für Mensch-Roboterinteraktion (IN2308)
Übung Programmierung und Regelung für Mensch-Roboterinteraktion (IN2308)

Official page in TUMonline · Details are not binding.