| Course Name | Underactuated Robotics |
| Course Code | 24RAI432 |
| Program | B.Tech. Artificial Intelligence (AI) and Data Science (Medical Engineering) |
| Semester | VII |
| Credits | 3 |
| Campus | Coimbatore |
Fully actuated vs Under-actuated Systems
Motivation and Definition of under-actuated control problem-Input and output state constraints- Non-holonomic Constraints-Case studies examples- simple pendulum-Humanoid robot, UAV and wheeled robots- Introduction to optimal control-Double-integrator examples
Model Based Control
Pendulum case study-Nonlinear dynamics with constant torque-Equations of motion-Linearizing the manipulator equations-Controllability Factor-Linear Quadratic regulator (Hamilton-Jacobi-Bellman (HJB) sufficiency), Pontryagin’s min-time control
Nonlinear Planning & Control-1
Formulating control design as an optimization-Continuous dynamic programming-HJB equation- Solving for minimizing control-Stabilization of nonlinear systems- Finite horizon control -Linear quadratic optimal tracking-LQR with input and output constraints- LQR as a convex optimization problem- LQG-Case studies- Pendulum
Nonlinear Planning & Control-2
Lyapunov functions-Relationships to HJB equations-Lyapunov analysis for linear and polynomial systems-Trajectory optimization problem- Feedback motion planning-Linear Quadratic Gaussian approach- Model predictive control approach
Course Objectives:
Course Outcomes:
After completing this course, students will be able to:
CO1: Analyze nonlinear underactuated systems
CO2: Demonstrate simple robot models for walking and running
CO3: Simulate the dynamics and control of Highly articulated robots
CO4: Perform nonlinear planning and control of simple robot models
Online Material
1. MIT open course ware: https://ocw.mit.edu/courses/electrical-engineering-and-computer-science/6-832-underactuated-robotics-spring-2009/index.htm
CO-PO Mapping
| PO/PSO | PO1 | PO2 | PO3 | PO4 | PO5 | PO6 | PO7 | PO8 | PO9 | PO10 | PO11 | PO12 | PSO1 | PSO2 | PSO3 |
| CO | |||||||||||||||
| CO1 | 3 | 3 | 2 | 1 | 3 | – | – | – | 3 | 3 | – | 2 | 3 | – | 2 |
| CO2 | 3 | 3 | 1 | 1 | 3 | 1 | – | – | 3 | 3 | – | 1 | 2 | 1 | 3 |
| CO3 | 3 | 3 | 3 | 2 | 3 | 1 | – | – | 3 | 3 | – | 2 | 3 | 2 | 3 |
| CO4 | 3 | 3 | 3 | 2 | 3 | – | – | – | 3 | 3 | – | 2 | 3 | 1 | 3 |
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