Course

Unit I

Robots and Embedded Systems-Robots and Controllers: Mobile Robots-Embedded Controllers-Interfaces-Operating System, Robot operating system (ROS), Sensors, Actuators in Robots – Control – On-Off Control, PID Control, Velocity Control and Position Control, Recent Trends in Robotics

Unit II

Mobile Robot Design: Driving Robots- Single Wheel Drive- Differential Drive- Tracked Robots- Synchro-Drive- Ackermann Steering- Drive- Kinematics, Omni-Directional Robots, Balancing Robots, Walking Robots, Walking Robots, Walking Robots, Walking Robots

Unit III

Mobile Robots, Concepts of Localization, and path planning, Maze Exploration, Map Generation

Learning Objectives

LO1: To understand the role of embedded controllers, actuators, and sensors in robotic
systems, including modern control techniques and ROS.

LO2: To learn the mechanical and kinematic design principles of mobile robots such as
differential drive, omni-drive, balancing and walking robots.

LO3: To explore embedded control strategies like PID, velocity, and position control for real-
time robotic applications.

LO4: To understand key concepts of localization, path planning, and map generation in
autonomous mobile robots.

Course Outcomes

CO1: Explain embedded system architectures and their integration with robotic systems using
sensors, actuators, and control strategies.

CO2: Design mobile robot drive mechanisms and analyze drive kinematics.
CO3: Implement control techniques (PID, velocity, position) in embedded platforms for
robotic motion control.

CO4: Apply embedded techniques for localization, maze navigation, and map generation in
mobile robotics.

CO-PO Mapping

Textbook(s)

Thomas Bräunl, “Embedded Robotics: Mobile Robot Design and Applications with Embedded Systems”, Third Edition, Springer-Verlag Berlin Heidelberg, 2008.

Reference(s)

1. R.K.Mittal and I.J.Nagrath, ?Robotics and Control?, Tata McGraw-Hill Publishing Company Ltd., New

Delhi, 2003.

2. John J. Craig, Introduction to Robotics: Mechanics and Control, Fourth Edition, Pearson, 2018.
3. Anis Koubaa, ?Robot Operating System (ROS) The Complete Reference?, First Volume, Springer, 2016.
4. K.S. Fu, R.C. Gonzalez and C.S.G. Lee, ?Robotics: Control, Sensing, Vision, and Intelligence?, McGraw-Hill, New York, 1987.