Advanced Robotics

By Prof. Ashish Dutta | IIT Kanpur

Learners enrolled: 5020

ABOUT THE COURSE:
The course is intended as a second level course for students, teachers and industry personal interested in learning the advanced concepts in robotics, as required in the design and control of robotic systems. This course is not intended as a basic course for learning robotics. The course starts with an introduction to robotics, linkages and workspaces, transformations, kinematics, trajectory planning and dynamics. Next, singular value decomposition is introduced to explain the concept of manipulation ability that is followed by the basics of linear control methods. The course also introduces advanced topics like modeling and analysis of multi-finger grasping, legged robots, their design and optimization with real world applications.

INTENDED AUDIENCE: Students (UG 3rd/4th year in Mechanical/Electrical/Computer Science), Teachers of engineering colleges, Industry professorial

PREREQUISITES: Basic Mathematics : matrices, differential equations

INDUSTRY SUPPORT: All Manufacturing companies (TATA motors, Mahindra, Maruti, Hyundai, GE, GM, etc), IT companies (TCS, Infosys, etc), process industries using robotics

Summary

Course Status :	Completed
Course Type :	Elective
Duration :	12 weeks
Category :	Mechanical Engineering
Credit Points :	3
Level :	Undergraduate/Postgraduate
Start Date :	23 Jan 2023
End Date :	14 Apr 2023
Enrollment Ends :	06 Feb 2023
Exam Registration Ends :	17 Mar 2023
Exam Date :	30 Apr 2023 IST

Note: This exam date is subjected to change based on seat availability. You can check final exam date on your hall ticket.

Page Visits

Course layout

Week 1: Introduction, transformations

Week 2: DH Parameters

Week 3: Forward and Inverse Kinematics, redundancy resolution

Week 4: Velocity kinematics and Jacobian

Week 5: Singular value decomposition, singularity and manipulation ability

Week 6: Trajectory planning , dynamics

Week 7: Sensors and actuators as used in robotics

Week 8: Basics of linear control – PD, PID controller, model based control, stability

Week 9: Multi finger grasping – form, force closures, grasp matrix

Week 10: Locomotion – active and passive walkers, concepts of balance

Week 11: Biped Gait and Balance using ZMP, kinematics and dynamic modeling of walk

Week 12: Design and Optimization of legged mechanisms

Books and references

1. Robot Dynamics and Control : Mark W. Spong and M. Vidyasagar, Wiley
2. Foundations of Robotics : T. Yoshikawa , PHI India
3. Advances Robotics – Redundancy and Optimization, Y. Nakamura , Addison-Wesley.

Instructor bio

Prof. Ashish Dutta

IIT Kanpur

Prof. Ashish Dutta obtained his PhD in Systems Engineering from Akita University, Japan, M.Tech from Jadavpur University and B.Tech from NIT Calicut. From 1994 to 2000 he was with the Bhabha Atomic Research Center, Mumbai where he worked on telemanipulator design and control for nuclear applications. Since 2002 he is with the department of mechanical engineering at IIT Kanpur, India. He was also a visiting professor in Nagoya University, Japan in 2006 and is currently a visiting professor at Kyushu Institute of Technology, Japan (2015 - ). His research interests are in the areas of humanoid robotics,motion planning in 3D, intelligent control systems and rehabilitation engineering. Prof. Dutta has also served as advisory board member of ISRO Chandrayan II Lunar mission (2009), member of Task force on AI of the Ministry of Commerce and Industry (2017), Secretary of The Robotics Society of India (2011-2017), member Bureau of Indian Standards (Robotics Section), Chairman India-South Korea robotics working group (2013-) , ChairmanIEEE Robotics and Automation section (UP, UK section), etc.

Course certificate

The course is free to enroll and learn from. But if you want a certificate, you have to register and write the proctored exam conducted by us in person at any of the designated exam centres.

The exam is optional for a fee of Rs 1000/- (Rupees one thousand only).

Date and Time of Exams: 30 April 2023 Morning session 9am to 12 noon; Afternoon Session 2pm to 5pm.

Registration url: Announcements will be made when the registration form is open for registrations.

The online registration form has to be filled and the certification exam fee needs to be paid. More details will be made available when the exam registration form is published. If there are any changes, it will be mentioned then.

Please check the form for more details on the cities where the exams will be held, the conditions you agree to when you fill the form etc.

CRITERIA TO GET A CERTIFICATE

Average assignment score = 25% of average of best 8 assignments out of the total 12 assignments given in the course.
Exam score = 75% of the proctored certification exam score out of 100

Final score = Average assignment score + Exam score

YOU WILL BE ELIGIBLE FOR A CERTIFICATE ONLY IF AVERAGE ASSIGNMENT SCORE >=10/25 AND EXAM SCORE >= 30/75. If one of the 2 criteria is not met, you will not get the certificate even if the Final score >= 40/100.

Certificate will have your name, photograph and the score in the final exam with the breakup.It will have the logos of NPTEL and IIT Kanpur. It will be e-verifiable at nptel.ac.in/noc.

Only the e-certificate will be made available. Hard copies will not be dispatched.

Once again, thanks for your interest in our online courses and certification. Happy learning.

- NPTEL team

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