From Robotic Grasping Theory to Soft Manipulation
Faculty
Gionata Salvietti
Assistant Professor, University of Siena
Course length
Duration
Total hours
Credits
Language
Course type
Fee for single course
Fee for degree students
Skills you’ll learn
Overview
This course will cover the fundamentals of kinematics and differential kinematics for robotic arms. Later on, classic force, impedance and admittance controllers will be introduced. Classic grasping theory will be proposed with the help of novel simulation tools. Finally, novel theory and technologies for soft manipulation will be introduced together with hands-on experiments on soft grippers.
Learning highlights
- Models - You will learn how to write the kinematic and the dynamic equations that describe a robotic grasp.
- Research - You will be guided through the cutting-edge research challenges regarding robotic manipulation and grasping.
- Control - You will learn how to control the fingers of a robotic hand, or a team of robots, to grasp, manipulate, and move objects.
- Exercises - You will see the application of theoretical concepts to practical exercises with MATLAB® and robotic platforms.
Course outline
5 classes
Introduction to soft manipulation
This session focuses on a recall on position and orientation representation for rigid objects and introduces soft grippers. Guidelines for the final project will be introduced.
Direct and Inverse Kinematic
This session focuses on the derivation of the direct kinematics equation through a systematic, general approach based on linear algebra and on the derivation of solutions to the inverse kinematics problem, which consists of the determination of the joint variables corresponding to a given end-effector pose
Differential kinematics
This session focuses on differential kinematics which gives the relationship between the joint velocities and the corresponding end-effector linear and angular velocity
Trajectory planning
This session focuses on generating reference inputs to the motion control system which ensures that the manipulator executes the planned trajectories
Session 5
Prerequisites
This course is one of three in a wholistic series.
Students that have already taken MSL-111 and those with prior experience with HTML, CSS, and Javascript building simple web pages will be good candidates for this module.
Gionata Salvietti received the M.S. degree in Robotics and Automation and the Ph.D. degree in Information Engineering from the University of Siena, Siena, Italy, in 2009 and 2012, respectively. He was a post-doc researcher with the Istituto Italiano di Tecnologia from 2012 to 2015. He was a Visiting Researcher with the DLR Institute for Robotic and Mechatronics, in 2012 and a Visiting Student with TAMS Group, University of Hamburg, in 2008. He is currently an Assistant Professor at the Department of Information Engineering and Mathematics, University of Siena. His research interests are robotic and human grasping, collaborative robotics, assistive devices, and haptics.
See full profile
Apply for this course
From Robotic Grasping Theory to Soft Manipulation
by Gionata Salvietti
Total hours
45 Hours
Dates
Aug 19 - Sep 06, 2019
Fee for single course
€1500
Fee for degree students
€750
How to secure your spot
Complete the form below to kickstart your application
Schedule your Harbour.Space interview
If successful, get ready to join us on campus
FAQ
Will I receive a certificate after completion?
Yes. Upon completion of the course, you will receive a certificate signed by the director of the program your course belonged to.
Do I need a visa?
This depends on your case. Please check with the Spanish or Thai consulate in your country of residence about visa requirements. We will do our part to provide you with the necessary documents, such as the Certificate of Enrollment.
Can I get a discount?
Yes. The easiest way to enroll in a course at a discounted price is to register for multiple courses. Registering for multiple courses will reduce the cost per individual course. Please ask the Admissions Office for more information about the other kinds of discounts we offer and what you can do to receive one.