Instructor:
Zhi Jane Li
Office: 85 Prescott 223C
Email: zli11 [at] wpi.edu
Overview:
This course covers topics on (1) the design and motion control of robotic systems that can be directly controlled by human (e.g., exoskeletons), teleoperated by human (e.g., tele-medical robot) and collaborate with human (e.g., mobile humanoid nursing robot), and (2) how human and robotic systems can synergistically work towards a shared goal to achieve high overall performance. Students will how to analyze and control the motion of human and robots, and to unite the knowledge in these two fields in the applications such as bio-inspired motion control, shared-autonomous control, and robot learning from human demonstrations. Students are expected to work individually on math problems, implement Matlab simulations, conduct literature review, and collaborate on course projects. Based on their background and research interest, students can choose among course projects that focus on mechanical design, control and learning algorithm, and studies on human motion and human-robot interaction.
Prerequisites:
Undergraduate Linear Algebra, kinematics and dynamics in robotics, basic statistics, and programming experience in Matlab.
Reference books:
- Magill, Richard A., and David I. Anderson. Motor learning and control: Concepts and applications. 11th Edition. New York: McGraw-Hill, 2017.
- Siciliano, Bruno, and Oussama Khatib, Springer handbook of robotics. 2nd ed. Springer, 2016. (Free access through WPI library)
- John J. Craig , Introduction to Robotics: Mechanics and Control (3rd Edition), Pearson, 2004
- Etienne Burdet, David W. Franklin, and Theodore E. Milner, Human Robotics: Neuromechanics and Motor Control, MIT Press, 2013
- Reza Shadmehr and Steven P. Wise, The Computational Neurobiology of Reaching and Pointing: A Foundation for Motor Learning, MIT Press, 2004