Semester | Mand. | Option | Filières |
MA2, MA4 | x | C |
Lecture | 2 weekly |
Exercises | 2 weekly |
Study plan | Semester | Mand. | Option | Filières |
Robotique 2022-23 | MA2 | x | C | |
Robotique 2022-23 | MA4 | x | C |
Cursus | Sem. | Type |
---|---|---|
Robotics | MA2, MA4 | Opt. |
This course presents methods by which robots can learn control laws using machine learning. On-line reactivity is not just a matter of ensuring enough CPU on-board of the robot. It requires inherently robust control laws that can provide a multiplicity of solutions. In this course, we will see methods based on dynamical systems theory. Dynamical systems-based control law offer closed-form solution, hence with no need for further optimization at run time, and with convergence and stability guarantees. We will see applications of these methods for manipulation and navigation of robot arm manipulator and full body humanoid robots.
Topics include:
Robotics, Machine Learning, Nonlinear Control, Dynamical systems theory, Robust and Adaptive Path Planning for Manipulation and Navigation
MICRO-452 Basics of Mobile Robotics
MICRO-455 - Applied Machine Learning
COM-502 Dynamical system theory for engineers
ME-225 Dynamical systems
MATH-325 Dynamical systems and bifurcation
Nonlinear regression techniques and classification from machine learning: GMM/GMR, SVM/SVR, NN
Differential equation, fixed points analysis, theory of stability in linear and nonlinear dynamical systems
The course will be composed of lectures and of exercises and practice sessions. The class presents the theory. In the exercise sessions, students will get to solve equations on paper but also to program the algorithms. Programming language will be matlab, but students who wants can use python.
Students are expected to attend the exercise sessions and the computer-based practice sessions. They should revise the class notes prior to going to practical session to be on top of the the theoretical material prior to applying it.
Students who are no longer up to date with the pre-requisites should work on these in parralel to taking the class.
100% of the grade is based on an oral exam.
Reference is the Book: €œLearning for Adaptive and Reactive Robot Control, MIT Press
https://mitpress.mit.edu/books/learning-adaptive-and-reactive-robot-control
optionnel
optionnel
Cours
Lecture
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H hebdo
Exercices
Exercises
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Hour(s) per week x 14 weeks
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H hebdo
Oral
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Session été
Session summer
ETE
ETE
optionnel
optionnel
Cours
Lecture
Heure(s) hebdo x 14 semaines
Hour(s) per week x 14 weeks
H hebdo
H hebdo
Exercices
Exercises
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Hour(s) per week x 14 weeks
H hebdo
H hebdo
Oral
Oral
Session été
Session summer
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