Contact-Rich Robotics; an Optimization Perspective

What it is about

You learn how to model robotic systems with contact, simulate their motion, and control them with optimization-based methods. In the end you will be able to build contact-rich simulations, use available software, and apply both model-based and data-driven control approaches.

What you will be able to do

• Efficient modeling of robotic systems
• Simulation of robotic motions with contact
• Apply state-of-the-art software for rigid multi-body systems
• Use advanced model-based and data-driven control methods

What the module consists of

• VorlesungConveying the theoretical foundations in kinematics, dynamics, optimization, contact modeling, and control
• ÜbungenPractice and application of the theoretical concepts
• Software-TutorialPreparation for the final project through practical software introduction
• Finales ProjektDevelopment of a simulation environment with contact, submission of code and report, presentation
• Zwischenprüfung (Midterm)Assessment of understanding of the fundamentals in a written examination

Teaching method

• VorlesungenDirect transfer of theoretical knowledge
• ÜbungenPractical deepening and application of the theory
• Software-TutorialPractice-oriented preparation for the project