Marc Toussaint. University of Stuttgart. Winter 2014/15. Online resources. • VideoLecture by Oussama Khatib. Chapter 1 is an introduction to the field of robotics. It introduces some. Background material, a few fundamental ideas, and the adopted notation of the. Book, and it.

The purpose of this course is to introduce you to basics of modelling, design, planning, and control of robot systems. In essence, the material treated in this course is a brief survey of relevant results from geometry, kinematics, statics, dynamics, and control.The course is presented in a standard format of lectures, readings and problem sets. Lectures will be based mainly, but not exclusively, on material in the Lecture Notes.

Lectures will follow roughly the same sequence as the material presented in the notes, so it can be read in anticipation of the lectures.Topics: robotics foundations in kinematics, dynamics, control, motion planning, trajectory generation, programming and design. Prerequisites: matrix algebra.

Residence Nationality, Alma mater Scientific career Fields Oussama Khatib (: أسامة الخطيب‎) is a and a professor of computer science at, and a. He is credited with seminal work in areas ranging from robot and, robot design, to interaction and synthesis. His work's emphasis has been to develop theories, algorithms, and technologies, that control robot systems by using models of their physical dynamics.

These dynamic models are used to derive optimal controllers for complex robots that interact with the environment in real-time. Contents • • • • • • • • Life [ ] Khatib received a Ph.D. Free arabic fonts for photoshop.

In from, in 1980. He then joined the Department at, and has been a member of the faculty there ever since. He is presently the director of the, and a member of the. Work [ ] Academic work [ ] Khatib's first seminal contribution was the artificial potential field method, which avoids the complex robot problem by projecting controlling robots with potential fields in task space. First introduced in 1978, the method was motivated by the pressing need to enable reactive robot operation in unstructured environments, and it has since been adopted and extended by a growing number of researchers in a wide range of areas and applications in robotics, graphics, vision, and animation.

Khatib, with Sean Quinlan, later proposed the elastic band model, which provided a robot planner with the ability to adjust and modify its planned motions during execution while efficiently detecting potential collisions using a sphere hierarchy. Khatib's next contribution was the operational space formulation in 1980, which avoids controlling robots joint-by-joint and instead formulates the robot dynamics, performance analysis, and control in the very space where the task is specified. When used with an accurate inertial dynamic model, this method solves the problem of joint motion coordination in a kinetic energy optimal manner. Since the 1980s, Khatib and his lab have made fundamental advances in macro-mini robots (serial structures), cooperative robots (parallel structures), dexterous dynamic coordination, virtual linkages to model internal forces in cooperative manipulation, posture and whole body control, dynamic task decoupling, optimal control, human-robot compliant interaction, elastic strips for, human motion synthesis, and human-friendly robot design. Khatib's contributions also span the field of haptic interaction and dynamic simulation.