The practical course is offered as an accompanying course to the lectures Robotics I–III. Every week, students will work in a small team on solving a given robotics problem. In advance, the students have to prepare for the exercise using provided material. Every week, a small team of students will work on solving a given robotics problem, The list of topics includes robot modeling and simulation, inverse kinematics, collision-free motion planning, grasp planning, robot vision and robot learning.

The course provides an introduction to the robot development framework and episodic robotic memory of the cognitive architecture ArmarX. Further exercises address geometric and kinematic modeling of robots, inverse kinematics, motion planning, task space control, grasp planning, geometric scene understanding, point cloud segmentation, and programming by demonstration using movement primitives.

Learning Objectives:

Students can apply concrete solutions for different problems in robotics from the fields of modeling, perception, cognition and control.

Students are able to understand provided material to prepare for the exercises and to answer related questions.

Students can implement solutions in the programming languages C++ and Python with the help of suitable software frameworks. They have a deep understanding of their written code, and can reflect on the abilities and limitations of the chosen approach.

The assessment takes the form of a different type of examination in accordance with Section 4 (2) No. 3 SPO and consists of several exercises.

Requirements:
Knowledge of the C++ programming language is required.

Recommendations
Attending the lectures Robotics I – Introduction to Robotics, Robotics II – Humanoid Robotics, Robotics III – Sensors and Perception in Robotics is recommended.

Workload:
180 h

• approx.     2 h introductory session
• approx.   18 h initial training (software framework)
• approx. 120 h group work
• approx.   40 h attendance time