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151-0851-00 Vlecture: CAB G11 Tuesday 10:15 – 12:00, every weekexercise: HG G1 Wednesday 8:15 – 10:00, according to schedule (about every 2nd week)office hour: LEE H303 Friday 12.15 – 13.00Marco Hutter, Roland Siegwart, and Thomas Stastny

20.09.2016Robot Dynamics - Introduction 1

Lecture «Robot Dynamics»: Introduction

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Growing market and applications Big investment by big companies

20.09.2016Robot Dynamics - Introduction 2

RoboticsThe natural evolution of automation

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Spot-mini (Boston Dynamics)One of the most versatile dynamic robots

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Joint position task space position

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Kinematics, Dynamics, and Control of Quadruped + Manipulator

prBr

BPr

iq

r r q

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Joint velocity task space velocity

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Kinematics, Dynamics, and Control of Quadruped + Manipulator

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iqBv

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r Jq

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Joint torque motion / external forces

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Kinematics, Dynamics, and Control of Quadruped + Manipulator

LiftF

icontactFicontactF

icontactFicontactF

bodyF

i

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Design, Actuation, and Control for locomotion and interaction

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Robotic Systems Lab

legged locomotion and autonomous navigation

digital fabrication and automated construction

actuator design for dynamic interaction

interaction control and haptic manipulation

Mobile- and telemanipulation

Robotic aggregation of irregular shaped objects

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ANYmalan autonomous field-ready quadruped

Applications in industrial inspection and search and rescue

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Dynamics and Control of Flying Vehicles

Flying machine arena, IDSC, ETH Zurich

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Understanding system dynamics is essential for control

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Dynamics of Airplane and Rotorcraft

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UAV – inspection and aerial manipulation Solar airplane – permanent flights

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Autonomous Systems Lab

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Kinematic and dynamic modeling of robotic systems: Manipulators (position and force control) Legged robots Rotary wing systems Fixed wing airplanes

Objective of the course Deepening an applied understanding of how to model the most common robotic systems Extending the background in kinematics, rotations, and dynamics of multi-body systems Modeling of actuation forces Apply the models in control

Provide tools to work in the field of design and control of robotic systems

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Robot DynamicsLecture goals

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Topic Title20.09.2016 Intro and Outline L1 Course Introduction; Recapitulation Position, Linear Velocity, Rotation, Transformation27.09.2016 Kinematics 1 L2 Rotation and Angular Velocity; Representation; Rigid Body Formulation, 28.09.2016 Exercise 1a E1a Kinematics Modeling the ABB arm04.10.2016 Kinematics 2 L3 Kinematics of Systems of Bodies; Jacobians11.10.2016 Kinematics 3 L4 Kinematic Control Methods: Inverse Differential Kinematics, Inverse Kinematics; Rotation

Error; Multi-task Control12.10.2016 Exercise 1b E1b Kinematic Control of the ABB Arm18.10.2016 Dynamics L1 L5 Multi-body Dynamics19.10.2016 Exercise 2a E2a Dynamic Modeling of the ABB Arm25.10.2016 Dynamics L2 L6 Dynamic Model Based Control Methods26.10.2016 Exercise 2b E2b Dynamic Control Methods Applied to the ABB arm01.11.2016 Legged Robots L7 Case Study and Application of Control Methods08.11.2016 Rotorcraft 1 L8 Dynamic Modeling of Rotorcraft I15.11.2016 Rotorcraft 2 L9 Dynamic Modeling of Rotorcraft II & Control16.11.2016 Exercise 3 E3 Modeling and Control of Multicopter22.11.2016 Case Studies 2 L10 Rotor Craft Case Study29.11.2016 Fixed-wing 1 L11 Flight Dynamics; Basics of Aerodynamics; Modeling of Fixed-wing Aircraft30.11.2016 Exercise 4 E4 Aircraft Aerodynamics / Flight performance / Model derivation06.12.2016 Fixed-wing 2 L12 Stability, Control and Derivation of a Dynamic Model07.12.2016 Exercise 5 E5 Fixed-wing Control and Simulation13.12.2016 Case Studies 3 L13 Fixed-wing Case Study20.12.2016 Summery and Outlook L14 Summery; Wrap-up; Exam

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Official lecture material (online on lecture homepage) Script on kinematics and dynamics (the script is new, please report mistakes!) Slides (online) [complete slides will be provided after lecture] Exercise exam

Additional readings Selected papers will be uploaded to homepage Handbook of Robotics (Siciliano, Khatib) http://link.springer.com/referencework/10.1007/978-3-540-30301-5

Robotics – Modelling, Planning and Control (Siciliano, Sciavicco, Villani, Oriolo) http://link.springer.com/book/10.1007%2F978-1-84628-642-1

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Lecture Material

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Lecture CAB G11 Theory Quick examples on paper

Exercise HG G1 Real problems at robotic systems (e.g. ABB industrial arm) Matlab => bring along a laptop or join a colleague

Case Studies State of the art engineering and research at selected examples Not primarily relevant in exams (only some multiple choice questions)

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Lecture Setup

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If things are unclear, immediately interrupt and ask(I’m happy if the lecture becomes a discussion)

Write a mail or come to office hours if things need to be further explained We try to have a short recap of all important questions at the beginning of every lecture

Small exercises during lecture: Try to solve them without help of the solution! (it helps you to understand the difficulties)

Break between hours?

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Lecture Rules