Intelligent Control of Robotic Systems

By Prof.M.Felix Orlando | IIT Roorkee

Learners enrolled: 3069 | Exam registration: 442

ABOUT THE COURSE:

This course focuses on the fundamentals of robotics and intelligent control covering almost all the essential topics along with fuzzy logics, neural networks, reinforcement learning with MATLAB based simulation studies. The course proposed will surely satisfy the participants in all the aspects of their interests towards the field of control and robotics so that they can start their research works in this vibrant field of research.

INTENDED AUDIENCE: All UG and PG students and PhD Students of EE, ME, CSE and ECE departments interested in robotics and automation.

PREREQUISITES: Introduction to robotics
Robotics and Control: Theory and Practice - https://nptel.ac.in/courses/112107289

INDUSTRY SUPPORT: 1. KUKA Robotics (India) Private Limited. 2. General Electric

Summary

Course Status :	Completed
Course Type :	Elective
Language for course content :	English
Duration :	4 weeks
Category :	Electrical, Electronics and Communications Engineering Control and Instrumentation
Credit Points :	1
Level :	Undergraduate/Postgraduate
Start Date :	17 Feb 2025
End Date :	14 Mar 2025
Enrollment Ends :	17 Feb 2025
Exam Registration Ends :	28 Feb 2025
Exam Date :	27 Apr 2025 IST

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

Page Visits

Course layout

Week 1: Robotics: Primer

Anatomy, Actuation, Sensing, and Programming.

Control – Kinematic Control Strategies.

Dynamic Robot Control Strategies.

Week 2: Fuzzy Logic Based Robotics

Review of Fuzzy Logics-sets and FLC using Lyapunov Analysis.

Fuzzy C-means Clustering for Redundant Robot Arm Control.

Takagi-Sugeno Fuzzy and Mamdani Fuzzy based control of Mobile robots.

Week 3: Neural Network Based Robot Control

Review of Neural Networks-Perceptron, Single Layer Perceptron, Multi Layer Perceptron, Radial Basis Function.

Neural Network Feedback Linearization Controller.

Radial Basis Function Based Neural Network Controller – Application towards trajectory tracking of robot arm.

Week 4: Search Based and Reinforcement Learning Based Robotics

Search Method-A-star and Planning Method-RRT approaches

Introduction to Reinforcement Learning (RL) – Environment, Reward,Agent.

Application on 2-DOF, 3-DOF non-planar robots for position/force control.

Books and references

1. L. Sciavicco and B. Siciliano, “Modelling and Control of a Robot Manipulators,” Springer, 2000.

2. John J. Craig, “Introduction to Robotics: Mechanics and Control,” Pearson, 2004.

3. Francis X. Govers, “Artificial Intelligence for Robotics”, Packt Publishers, 2018

4. Mark. W. Spong and M. Vidyasagar, “Robot Dynamics andControl,” Wiley Publications.

Instructor bio

Prof.M.Felix Orlando

IIT Roorkee

Prof.M. Felix Orlando is an Associate Professor in the Department of Electrical Engineering at Indian Institute of Technology Roorkee (IITR) since November 2015. He took his PhD in Electrical Engineering from Indian Institute of Technology Kanpur (IITK) in 2013. He was a postdoctoral fellow at Case Western Reserve University, Ohio, USA between 2013- 2015. He took his Masters in Engineering in Robotics and Human Computer Interaction from Korea Institute of Science and Technology (KIST), Seoul, South Korea. His research interests include Artificial Intelligence, Robotics, Image- Guided Percutaneous Interventions for Medical Surgery, and Human Biomechanics. He is also the member of IEEE- Robotics and Automation Society (IEEE-RAS) and ASME. He has taught Introduction to robotics (6 times), Artificial neural networks (3 times), Bio-Medical Robotics (1 time) at IIT Roorkee. Furthermore, he has done an NPTEL course on Robotics and Control: Theory and Practice during Jan 2020 and it is being rerun till 2024.

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:April 27, 2025 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 3 assignments out of the total 4 assignments given in the course.
Exam score = 75% of the proctored certification exam score out of 100

Final score = Average assignment score + Exam score

Please note that assignments encompass all types (including quizzes, programming tasks, and essay submissions) available in the specific week.

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 Roorkee .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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