RBE 595 – Synergy of Human and Robotic Systems

Instructor:

Zhi Jane Li

Office: 85 Prescott 223C

Email: zli11 [at] wpi.edu

Time & Location: Mon & Wed, 1:00-2:20pm at OH109

Office Hour: Mon & Thurs, 3:00-4:00pm at Instructor’s office (tentative)

Piazza Discussion Website: piazza.com/wpi/fall2017/rbe595/home

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., 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.

Textbook:

• 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
• John J. Craig , Introduction to Robotics: Mechanics and Control (3rd Edition), Pearson, 2004

Course Syllabus:

• Here

Course schedule:

• Here

Grading:

1. In-Class Participation and Preparation 10%

   • Attendance to lecture 3%

     Students missing three or more lectures will lose all the 3% for attendance

   • Active participation 7%

     Students are required to actively ask and answer questions from the instructor and from each other in class, and answer each other’s questions on the Piazza forum. To avoid miscalculation, student will submit a note with the listed summary of what questions they have asked and answered by the end of the lecture, and submit a one-page summary of the discussion they have participated in on the Piazza forum.

2. Quizzes 15%
3. Assignments 40%
4. Course project 35%
   • Project proposal 10%
   • Project report 15%
   • Final presentation 10%

Lecture Slides:

1. Introduction to Course
2. Introduction to Course Topics
3. Introduction to Course Projects
4. Biomechanics
5. Forward Kinematics
6. Inverse Kinematics
7. Kinematic Redundancy Part I
8. Kinematic Redundancy Part II
9. Upper Limb Exoskeleton for Stroke Rehabilitation
10. Lower limb Exoskeleton for Stroke Rehabilitation
11. Feedback Control: continuous system
12. Feedback Control: Transfer function and Simulink
13. Control Stability of Networked Haptics
14. Control Stability of Networked Haptics (cont)
15. Framework of learning from demonstration
16. Social Learning
17. L17-Demonstration
18. L18-Low Level Learning
19. L19-Low Level Learning
20. L20-EMG
21. L21-High Level Learning
22. L22-High Level Learning

Assignments:

1. Assignment-01 (due August 28)
2. Assignment-02 (due September 4 )
3. Assignment-03 (due September 11 )
4. Assignment-04 Part 1 (due September 18 )
5. Assignment-04 Part 2 (due September 20 )
6. Assignment-05 (due September 25 )
7. Assignment-06 (due October 2)
8. Project Proposal: Chapter 1-2 (due October 2)
9. Assignment-07 (due October 9)
10. Assignment-08 (due October 23)
11. Full Project Proposal (due October 23)
12. Assignment-09 Project Peer Review Part 1 (due Octorber 30)
13. Assignment-09 Project Peer Review Part 2 (due November 6)
14. Assignment-10 (due November 13)
15. Assignment-11 (due November 13)
16. Assignment-12 (due November 20)
17. Assignment-13 (due November 27)
18. Assignment-14 (due December 4)
19. Assignment-15 (due December 4)
20. Assignment-15 Extra credit (due December 11)

Resources:

• Springer Handbook Of Robotics, 2nd edition, by Bruno Siciliano (available via WPI library)
• Feedback Systems: An Introduction for Scientists and Engineers, 2nd Edition, by KJ Astrom and R. M. Murray
• Linear Algebra Review and Reference by Zico Kolter (updated by Chuong Do)
• Probability Review
• How to convert a continuous system to a discrete system
• How to read a paper by Dmitry Berenson
• How to Write a Conference Paper by Dmitry Berenson
• Research Paper Review Guidelines by Dmitry Berenson
• Presentation Guidelines by Dmitry Berenson
• Presentation Grading Sheet by Dmitry Berenson
• Project Proposal Guidelines by Dmitry Berenson
• Project Progress Report Guidelines by Dmitry Berenson

The instructor reserves the right to modify the course outline and policies mentioned in this syllabus at any time during the term.