MPŠ MP&Scaron MP&Scaron MP&Scaron Avtorji

Jožef Stefan
Postgraduate School

Jamova 39
SI-1000 Ljubljana

Phone: +386 1 477 31 00
Fax: +386 1 477 31 10


Course Description

Intelligent Robot Control


Information and Communication Technologies, third-level study programme


doc. dr. Leon Žlajpah
doc. dr. Tadej Petrič


The objective of this course is to gain theoretical and practical knowledge of robot kinematics, dynamics, motion planning and robot applications. The emphasis is on modern robot systems like redundant mechanisms, dual-arm robot manipulators and sensor based control.

The aims of the course are to evolve competences to understand R&D achievements and trends in the fields of intelligent robot systems, to be able to develop and use specific robot technologies, be able to create applications using modern robot systems and to design robot control systems.


kinematics and dynamics of robot mechanisms, motion planning, joint space robot control and task space robot control

Modeling and simulation of robot mechanisms:
simulation of robot manipulators in MATLAB/Simulink environment, simulation in robot control system design, real-time simulation

Robot control systems:
dynamic manipulation using force, vision and tactile sensors, variable compliance robot control, optimal robot control

Redundant robot systems:
task decomposition, redundancy resolution, obstacle avoidance

Robot cooperation:
Kinematics and dynamics of dual-arm robots, control of dual-arm robots

Practical training:
practical use of selected control techniques on robot systems

Course literature:

Selected chapters from the following books:

• B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: Modelling, Planning and Control, Springer-Verlag, London, UK, 2009, ISBN: 978-1-84628-641-4.
• B. Siciliano, and O. Khatib (Eds.), Springer Handbook of Robotics, Springer-Verlag Berlin Heidelberg 2008, ISBN: 978-3-540-23957-4.
• L. Sentis, J. Park, and O. Khatib, “Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots”, IEEE Transactions on Robotics, vol. 26, no. 3, pp. 483-501, 2010.
• L. Righetti, J. Buchli, M. Mistry, and S. Schaal, “Inverse dynamics control of floating-base robots with external constraints: A unified view”, 2011 IEEE International Conference on Robotics and Automation, str. 1085-1090, 2011.
• Y. Tassa, T. Erez, and E. Todorov, “Synthesis and stabilization of complex behaviors through online trajectory optimization”, 2012 IEEE/RSJ International Conference on Intelligent Robots and System, str. 4906-4913, 2012.
• J. Lenarčič, T. Bajd, and M.M. Stanišić. Robot Mechanisms, Springer Netherlands, 2013, ISBN: 978-94-007-4522-3
• G. Carbone F. Gomez-Bravo (Editors), Motion and operation planning of robotic systems: background and practical approaches, (Mechanisms and machine science, 29). Springer, 2015, ISBN: 978-3-319-14704-8

Significant publications and references:

• N. Likar, B. Nemec, and L. Žlajpah. “Virtual mechanism approach for dual-arm manipulation”. Robotica, vol 31, no 5, 16 pp., 2013.
• T. Petrič, A. Gams, A.J. Ijspeert, and L. Žlajpah. “On-line frequency adaptation and movement imitation for rhythmic robotic tasks”. The international Journal of Robotics Research, vol. 30, no. 14, pp 1775-1788, 2011.
• T. Petrič, A. Gams, J. Babič, and L. Žlajpah. “Reflexive stability control framework for humanoid robots”. Autonomous Robots, vol. 34, no. 4, pp. 347-361, 2013.
• L. Žlajpah. “Multi-task control for redundant robots using prioritized damped least-squares inverse kinematics”. In: 22nd International Workshop on Robotics in Alpe-Adria-Danube Region, September 11-13, Portorož, Slovenia, pp. 311-318, 2013.
• N. Likar, and L. Žlajpah. “External joint torque-based estimation of contact information”. International Journal of Advanced Robotic Systems, vol. 11, str. 107-1-107-11, 2014.
• L. Žlajpah, and T. Petrič. “Obstacle avoidance for redundant manipulators as control problem”. In: S. Küçük (Ed.). Serial and parallel robot manipulators - kinematics, dynamics, control and optimization. Rijeka: InTech, pp. 203-230, 2012.
• T. Petrič, A. Gams, N. Likar, and L. Žlajpah. “Obstacle avoidance with industrial robots”. In: G. Carbone, F. Gomez-Barvo (Eds.). Motion and operation planning of robotic systems : background and practical approaches, (Mechanisms and machine science, 29). Springer, pp. 113-146, 2015.


written or oral exam (50%)
seminar work with oral defense (50%)

Students obligations:

written or oral exam
seminar work with oral defense