Biomedical Robotics and Biomicrosystems Lab

Robotica Biomedica (12CFU)

Teacher: Loredana Zollo

Tutors: Anna Lisa Ciancio



  • Introduction: Definition of robotics and biomedical robotics; Manipulator structures.
  • Robot kinematics - Elements of matrix algebra; Kinematic pairs; Holonomic and nonholonomic constraints; Introduction to analysis and synthesis of kinematic mechanisms; Elements of rigid body kinematics; Position and orientation of rigid bodies; Rotation matrices, Euler angles, angle and axis, unit quaternion; Forward kinematics.
  • Differential kinematics and statics: Differential kinematics; Geometric Jacobian and analytical Jacobian; Kinematic singularities; Analysis of Redundancy; Inverse kinematics and inverse kinematics algorithms; Statics; Manipulability Ellipsoids.
  • Robot Dynamics - Computation techniques of robot dynamic model; Lagrange formulation; Forward and inverse dynamics; Properties of dynamic model; Operational space dynamic model; Dynamic parameter identification.
  • Trajectory planning: Joint space trajectories; Operational space trajectories.
  • Robots control systems - Voltage control; Torque control; Joint space control; Operational space control; PID control; PD control with gravity compensation; Inverse dynamics control.
  • Visual servoing. - Main techniques of visual servoing with emphasis on the kinematic approach named "image-based visual servoing".
  • Neural Networks - Notion of neuron (structure and functioning) and artificial neuron; Artificial neural networks (main features, functioning, classification of architectures and learning algorithms, applications, case-studies in neuroscience and robotics); Central Pattern Generator (examples in animal world, examples of robotic applications, design methodologies). Application of neural networks and CPG to cyclic manipulation.
  • Rehabilitation Robotics - Definition and applications (neuro-rehabilitation and assistance); general concepts.
  • Robotics for diagnosis and surgery - Definition and applications (MIS, MIT, CAS); surgery and telesurgery; Classification of surgical robots; Haptic feedback and haptic interfaces; Master-Slave systems; Case studies of robots for surgical applications (e.g. Da Vinci robot, Zeus , KUKA/LWR, Phantom, Novint Falcon,): kinematics, dynamics and control. Control architecture for teleoperated robotic systems



L. Sciavicco and B. Siciliano, Modelling and Control of Robot Manipulators, Springer 2005.

Additional materials provided by the teacher.


Additional References

R. M. Murray, Z. Li and S. S. Sastry, A Mathematical Introduction to Robotic Manipulation, CRC Press, 1994.

J. J. Craig, Introduction to Robotics - Mechanics and Control, Pearson Prentice-Hall, 2005.

J. Rosen, B. Hannaford, R.M. Satava, Surgical Robotics – Systems Applications and Visions, Springer 2011.

B. Siciliano and O. Khatib Eds., Handbook of Robotics, Springer 2008.

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