Control Methods for Robotics (SC4240TU)

Content and Goals

The objective of this course is to present state-of-the-art methodologies for motion control for various classes of robots.

The class starts by revisiting concepts from differential geometry. The notions of “workspace” and “configuration space” of a robot are introduced. Next, important elements of nonlinear control theory such as Lyapunov stability, Lagrangian and Hamiltonian representations are revisited. Three classes of systems are presented: mechanical equations for modeling serial manipulators; max-plus linear systems for modeling legged locomotion; and finally nonholonomic systems for modeling wheeled robots. The first set of lectures focuses in the control of serial manipulators, covering techniques such as computed torque control, interaction/impedance control, and passivity-based control. The next section of the class is dedicated to the control of legged robots. We revisit important models such as the “compass gait” and the “Spring Loaded Inverted Pendulum” and review “zero momentum point” based control. We finish by introducing the max-plus algebra and show how it can be used to model, generate gaits, and control multi-legged robots. The later section of the class is dedicated to wheeled robots where nonholonomic-based control is addressed. We finish with flying quadcopters.