Studying at the University of Verona
Here you can find information on the organisational aspects of the Programme, lecture timetables, learning activities and useful contact details for your time at the University, from enrolment to graduation.
Study Plan
The Study Plan includes all modules, teaching and learning activities that each student will need to undertake during their time at the University.
Please select your Study Plan based on your enrollment year.
1° Year
Modules | Credits | TAF | SSD |
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Compulsory activities for Embedded & Iot Systems
Compulsory activities for Smart Systems & Data Analytics
2° Year activated in the A.Y. 2023/2024
Modules | Credits | TAF | SSD |
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Compulsory activities for Embedded & Iot Systems
Compulsory activities for Robotics Systems
Compulsory activities for Smart Systems & Data Analytics
Modules | Credits | TAF | SSD |
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Compulsory activities for Embedded & Iot Systems
Compulsory activities for Smart Systems & Data Analytics
Modules | Credits | TAF | SSD |
---|
Compulsory activities for Embedded & Iot Systems
Compulsory activities for Robotics Systems
Compulsory activities for Smart Systems & Data Analytics
Modules | Credits | TAF | SSD |
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3 modules among the following
Legend | Type of training activity (TTA)
TAF (Type of Educational Activity) All courses and activities are classified into different types of educational activities, indicated by a letter.
Physical human-robot interaction (2023/2024)
Teaching code
4S009007
Academic staff
Coordinator
Credits
6
Language
English
Scientific Disciplinary Sector (SSD)
ING-INF/05 - INFORMATION PROCESSING SYSTEMS
Period
Semester 1 dal Oct 2, 2023 al Jan 26, 2024.
Courses Single
Authorized
Learning objectives
The course aims to provide the following knowledge: theoretical foundation of physical human-robot interaction (e.g. bilateral teleoperation and force control), with particular attention to the design of control architectures capable of guaranteeing stability even in the presence of uncertainties and communication delays. At the end of the course the student will have to demonstrate that s/he has the following skills to apply the acquired knowledge: analyze the technical characteristics and structural properties of a control system for direct or teleoperated interaction with the environment; derive the mathematical model of the physical robot-environment interaction (direct or teleoperated); design a control architecture to ensure stability, performance and safety; implement the control architecture in simulators (e.g. Matlab/Simulink) and in operating systems tailored to robotic application (e.g. ROS). Student must also have the ability to define the technical specifications for a physical human robot-interaction system a (direct or teleoperated) and the ability to choose the most appropriate way to design the control architecture. Student will have to be able to deal with other engineers (e.g. electronic, automatic, mechanical) to design advanced control architectures for complex physical human-robot interaction systems. Student will have to show ability to continue its studies independently in the context of the design of architectures based on non-linear and adaptive techniques.
Prerequisites and basic notions
Dynamic systems, Robotics
Program
- the problem of physical human-robot interaction, application examples (collaborative/assistive robots, exoskeletons)
- force control, impedance control, admittance control, transparency
- the role of mechanical compliance in force control
- physical interaction via teleoperation
- stability demonstrations using Lyapunov function
- passivity theory
- passivity-based control
- advanced algorithms for physical human-robot interaction
- system identification
- implementation of interaction control algorithms (implementation details and issues)
Didactic methods
Frontal lessons for the theoretical part; Lectures with the active involvement of students for the laboratory part.
Learning assessment procedures
The exam will consist of an oral test on the topics of the course, including the assigned homework.
Evaluation criteria
To pass the exam, the student must demonstrate that he: - has understood the basic principles of human-robot physical interaction - knows how to apply the knowledge acquired during the course to solve the assigned problems. - be able to present one's work and discuss the design choices.
Criteria for the composition of the final grade
The final grade will be the composition of the grade on the oral exam and homeworks
Exam language
English