IMPORTANT NOTICE: Classes will start on Thursday the 21st of February, 2019

Professor: Cecilia Laschi

cecilia [dot] laschi [at] santannapisa [dot] it

Monday 16.00-18.00 Room C1

Thursday 9.00-11.00 Room L1

Introduction to Robotics and Biorobotics

Robotics Basics & Assignment

Assignment: Search the internet for a good example of a robot responding to our definition

(It can be done in small group of two students)

Next next class (Monday February 25):

• Present your robot with few slides (including pictures)
• Explain how it responds to the definition
• Show its main components
• If bioinspired, explain why/how/where

Robot mechanics and kinematics

Lecture Notes Kinematics

Lecture Notes Transformation Matrices

Robot sensors

Lecture Notes on Sensors

Lecture Notes on Sensors 2

Robot control

Lecture Notes on Robot Control

Lecture Notes on Robot Control 2

Lecture Notes on Trajectory Planning

Architectures for behaviour control

Lecture Notes on Robot Architectures

Lecture Notes on Robot Reactive Architectures

Robot Navigation

Bioinspired robotics

Group (2 students)

Read one the following papers:

M.O. Franz, H.A. Mallot, “Biomimetic robot navigation”, Robotics and Autonomous Systems, 30, 2000.

D. Floreano, A. Ijspeert, S. Schaal, “Robotics and Neuroscience”, Current Biology, 24, 2014

T. George Thuruthel, Y. Ansari, E. Falotico, C. Laschi, “Control Strategies for Soft Robotic Manipulators: A Survey”, Soft Robotics 5(2), 2018, pp.149-163.

N. Cauli, E. Falotico, A. Bernardino, J. Santos-Victor, C. Laschi, “Correcting for Changes: Expected Perception-Based Control for Reaching a Moving Target”, IEEE Robotics and Automation Magazine, 23 (1), pp.63-70, 2016.

@ class of April 29:

• Present the bioinspired approach described in the paper
• Explain how it responds to our bioinspiration definition
• Show main simplifying principles, if any

Humanoid robotics

Lecture Notes on Biped Locomotion

Neurocontrollers

NeuroMorphic Computing

Robot Vision

1. Stefano Berti
2. Valerio De Caro
3. Nicolò Lucchesi
4. Matteo Montagnani
5. Andrea Rosarco
6. Lorenzo Spano

Written test on May 30 (tbc)

Oral exams: see official UniPI calendar