493.611 Dynamics and Control of Robot-Environment Interaction
Credits Department Instructor Attachment
Position Name
3     Park, Jaeheung ENG
KOR
1. Goals This course covers topics related to operating complex high-DOF robots in human environment. The areas will include dynamics & control of robots with task redundancy, human-like robots, Robot cooperation, Grasping, and Planning.
2. Texts and References Lecture notes, Introduction to Robotics-Mechanics and Control (John J. Craig)
3. Evaluation
Attendance Assignment Mid-term Final Final Others Total
10% 30% 20% 30% 10% 0% 100%
Remark :  
4. Lecture Plan Week Lecture Contents
1st Week Robot Task Description & Forward Kinamatics
2st Week Instantaneous Kinematics & Inverse Kinematics
3st Week Joint Space Control
4st Week Task Space Control
5st Week Active Force Control & Compliant Motion Control
6st Week Singularity & Task Redundancy
7st Week Velocity Saturation Method
8st Week Midterm
9st Week Obstacle Avoidance
10st Week Inertial Properties
11st Week Macro/Mini Structure of Manipulator
12st Week Mulit-Robot Cooperation
13st Week Humanoid Robot Control
14st Week Project Presentation
15st Week Final Exam
5. Guideline for Students The projects will be done as a group or indivisual. Students will investigate a specific topic and implement the result on a physical robot or simulated robot.
6. Penalty for plagiarism The projects will be done as a group or indivisual. Students will investigate a specific topic and implement the result on a physical robot or simulated robot. 
7. Homepage , Email of professor plaza4.snu.ac.kr/~park73  ,  park73@snu.ac.kr
8. Office hour and place