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 roboticsINDUSTRY SUPPORT: 1. KUKA Robotics (India) Private Limited. 2. General Electric
Overview
Syllabus
Week 1:Robotics: Primer
Week 2:Fuzzy Logic Based Robotics
Week 3:Neural Network Based Robot Control
Week 4:Search Based and Reinforcement Learning Based Robotics
- 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 Mobilerobots.
Week 3:Neural Network Based Robot Control
- Review of Neural Networks-Perceptron, Single Layer Perceptron, MultiLayer Perceptron, Radial Basis Function.
- Neural Network Feedback Linearization Controller.
- Radial Basis Function Based Neural Network Controller – Applicationtowards 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/forcecontrol.
Taught by
Prof.M.Felix Orlando
