Physical Interaction for Aerial and Space Robots

Course Overview:
This course introduces the fundamentals of Robotics, with a particular focus on the mechanics of physical interaction in aerial and free-flying systems. It builds from the core principles of robot design, kinematic modeling, and motion control in fixed-base systems, progressing toward advanced topics in the control of floating-base robots that physically interact with their environment.

The skills developed in this course are essential for advanced applications in Robotics. In orbital robotics, they support tasks like satellite servicing, autonomous docking, and debris capture. For planetary exploration, they enable robots to navigate rough terrain and interact with their environment. In aerial manipulation, they are key to enabling drones to physically interact with the environment using onboard robotic arms. This includes performing complex tasks such as contact-based inspection of infrastructure (e.g., bridges, wind turbines, or power lines), precise placement or retrieval of objects in hard-to-reach areas, and remote maintenance operations in environments that are hazardous or inaccessible to humans.

Course Format:
The format consists of lectures and in-class tutorials. There are 2 summative assessments: assignment and written exam.

Course Topics:

• Introduction and Applications

• Robot Morphologies

• Robot Kinematics

• The Jacobian Matrix

• Robot Dynamics

• Trajectory Planning

• Interaction Control for Fixed Robots

• Interaction Control for Floating-base Robots

• Tactile Exploration

Course Assignment:
The learning objective is to implement kinematics, motion planning and interaction tasks on a real robotic arm. The assignment is conducted in groups of 2/3 students. The deliverable is a written report, videos of the robot demonstrations, and well-documented code. To pass the assignment, the grade of the assignment should be higher than 5.5.