IHA-4506 Advanced Robotics, 5 cr

Additional information

Suitable for postgraduate studies.

Person responsible

Roel Pieters, Reza Ghabcheloo


Implementation Period Person responsible Requirements
IHA-4506 2019-01 1 - 2 Reza Ghabcheloo
Roel Pieters
Excercies and project work

Learning Outcomes

Students will learn some of advanced topics in Robotics. We will introduce number of topics in series of lectures every second week. Students are given assignments on each topic. The assignment include algorithm development and programming, and experimenting on a real robot. Covered topics are Robot control and control architectures Visual control and obstacle avoidance Force and compliance control Learning from demonstration


Content Core content Complementary knowledge Specialist knowledge
1. Robot motion control  Resolved rate control and inverse dyamic control  Stability, state feedback, Lyapunov based control design 
2. Visual feedback and obstacle avoidance  state estimation, kinematics   
3. Force feedback and compliance control   feedback control   
4. Robot control architectures     
5. Learning from demonstration  dynamic systems, optimization  vector fields 

Instructions for students on how to achieve the learning outcomes

Returned assignments and term projects and demos.

Assessment scale:

Numerical evaluation scale (0-5)


Course Mandatory/Advisable Description
ASE-9407 Robot Manipulators: Modeling, Control and Programming Mandatory    
IHA-4206 Mechatronics and Robot Programming Mandatory    
IHA-4306 Fundamentals of Mobile Robots Advisable    

Additional information about prerequisites
You need to have basic understanding of dynamic systems and feedback control. ROS is our primary software platform. Some basics of Matlab is also needed.

Correspondence of content

There is no equivalence with any other courses

Updated by: Kunnari Jaana, 22.02.2019