Dynamics
This session focuses on the derivation of a dynamic model a manipulator

Controller for robotics 1
This session focuses on the presentation of motion and velocity controllers for manipulators

Introduction to soft manipulation
This session focuses on a recall on position and orientation representation for rigid objects and introduces soft grippers. Guidelines for the final project will be introduced.

Differential kinematics
This session focuses on differential kinematics which gives the relationship between the joint velocities and the corresponding end-effector linear and angular velocity

Direct and Inverse Kinematic
This session focuses on the derivation of the direct kinematics equation through a systematic, general approach based on linear algebra and on the derivation of solutions to the inverse kinematics problem, which consists of the determination of the joint variables corresponding to a given end-effector pose

Trajectory planning
This session focuses on generating reference inputs to the motion control system which ensures that the manipulator executes the planned trajectories

Final student’s project
This session will be used to refine requirements the final project

Contact modeling and grasp properties
This session focuses on the different contact modeling strategies and on determining the grasp properties through the analysis of grasp kinematic description

Grasp modeling
This session focused on introducing the most common problems in robotic grasping and on introducing the most common approaches for their solution. Moreover, we will define  models for describing hand-object kinematics in robotic grasping

Controllers for robotics 2
This session focuses on the presentation force and combined controllers (impedance/admittance) used for robotic manipulators

Grasp control
This session focuses on the hand and object control for object manipulation

Grasp planning and simulators
This session introduces simulators which allows the definition and the analysis of hand and grasp models as well as to plan a grasp

Limitation of rigid-body assumption and introduction to soft-robotics
This session focused on introducing the novel concept of soft manipulation

Soft grippers design
This session focuses on the design of novel soft grippers able to comply with object shapes and with the environment

Final student’s project
This session will be used for the presentation of the student’s final project.