Artificial Intelligence and Robotics

General objectives. The course provides advanced tools for the control of robotic systems: use of kinematic redundancy, dynamic modeling of robot manipulators, design of feedback control laws for free motion and interaction tasks, including visual servoing. Specific objectives. Knowledge and understanding: Students will learn the methods for the dynamic modelling of manipulators, for the use of kinematic redundancy, as well as how control laws can be designed to execute robotic tasks in free motion or involving interaction with the environment. Apply knowledge and understanding: Students will be able to analyze the robot dynamics and to design algorithms and modules for controlling robot trajectories and contact forces with the environment. Critical and judgment skills: Students will be able to characterize the dynamic functionality of a robotic system with reference to a given task, analyzing the complexity of the solution, its performance, and the possible weaknesses. Communication skills: The course will allow students to be able to present the advanced problems and related technical solutions when using robots in dynamic conditions. Learning ability: The course aims at developing autonomous learning abilities in the students, oriented to the analysis and solution of advanced problems in the use of robots.