Multi-Sensory Based Robot Dynamic Manipulation

What it is about

You will learn to dynamically model serial robots and treat them with control engineering techniques. The emphasis is on iterative methods for deriving symbolic equations for kinematics and dynamics, as well as designing passivity-based control strategies and fusing multiple sensors signals (visual, tactile, force). In the end you can use these models in simulations (Matlab/Simulink) and implement control concepts.

What you will be able to do

Create models of serial robots using iterative procedures
Apply symbolic equations for kinematics and dynamics
Design passivity-based control procedures
Implement sensor fusion of visual and force-based signals
Implementation and simulation of modeling and control examples in Matlab/Simulink

What the module consists of

LectureConveying the theoretical foundations of kinematics, dynamics and passivity-based control
Tutorials / Lab exercisesPractical deepening: simulations, modeling and control tasks in Matlab/Simulink and ROS
Individual projectIndependent handling of a more complex task with presentation

Teaching method

Ex cathedra lectureIntroduction and presentation of the theoretical content
Laboratory exercises / tutorialsConsolidation of knowledge through practical implementation and application in simulations

Dates

Lecture with exerciseMulti-sensory Based Robot Dynamic manipulation2 groups to choose from

ATue14:45–17:00
2026, Karlstraße-Seminarraum (2906.02.026)
13× · 13.10.–19.01.
- 13.10.
- 20.10.
- 27.10.
- 03.11.
- 10.11.
- 17.11.
- 24.11.
- 01.12.
- 08.12.
- 15.12.
- 22.12.
- 12.01.
- 19.01.
BThu14:45–17:00
2026, Karlstraße-Seminarraum (2906.02.026)
12× · 15.10.–21.01.
- 15.10.
- 22.10.
- 29.10.
- 05.11.
- 12.11.
- 19.11.
- 26.11.
- 10.12.
- 17.12.
- 07.01.
- 14.01.
- 21.01.

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

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