• Offered by School of Engineering
  • ANU College ANU College of Engineering and Computer Science
  • Classification Advanced
  • Course subject Engineering
  • Areas of interest Engineering
  • Academic career PGRD
  • Course convener
    • Prof Robert Mahony
  • Mode of delivery In Person
  • Co-taught Course
  • Offered in Second Semester 2021
    See Future Offerings

Course has been adjusted for remote participation in 2021. Some on-campus activities are available. Attendance at these where possible is encouraged.

This course provides an in depth study of the fundamentals of modern robotics. The material covers both standard robotic manipulators and modern mobile robots. Material covered includes study of the kinematics and dynamics robotic manipulators and mobile robots, spatial orientation representations, Denavit-Hartenberg link descriptions, forward and inverse kinematics, Jacobian rate and static force relations, singularities, recursive Newton-Euler and Lagrange dynamics algorithms as well as trajectory planning for classical manipulators. Additional material on filtering and design of mobile robotic platforms is covered with an emphasis on integration of the sensing and control systems with the mechanical design.

Learning Outcomes

Upon successful completion, students will have the knowledge and skills to:

  1. Be familiar with the history, concept development and key components of robotics technologies.
  2. Be familiar with various robot sensors and their perception principles that enable a robot to analyse their environment, reason and take appropriate actions toward the given goal.
  3. Understand and able to analyse and solve problems in spatial coordinate representation and spatial transformation, robot locomotion design, kinematics, motion control, localization and mapping, navigation and path planning.
  4. Be able to apply and demonstrate the learned knowledge and skills in practical robotics laboratories and experiments.
  5. Be able to design and implement a robotic project on a physical mobile robot platform, with tasks involving project specification, algorithm design, software programming, simulation and modelling, control and obstacle avoidance in a complex and interactive environment.
  6. Enhancing communication skills through project report and seminar presentation.

Indicative Assessment

  1. Practical Labs (30%) (30) [LO null]
  2. Term research project (20%) (20) [LO null]
  3. Project report/seminar presentation (10%) (10) [LO null]
  4. Problem Sets and/or Final Examination (40%) (40) [LO null]

The ANU uses Turnitin to enhance student citation and referencing techniques, and to assess assignment submissions as a component of the University's approach to managing Academic Integrity. While the use of Turnitin is not mandatory, the ANU highly recommends Turnitin is used by both teaching staff and students. For additional information regarding Turnitin please visit the ANU Online website.

Workload

3 x 1 hour lecture. 1 hour tutorial, 3 hours lab time, 2 hours independent study time - per week

Inherent Requirements

Not applicable

Requisite and Incompatibility

To enrol in this course you must be studying Master of Engineering or Master of Machine Learning and Computer Vision. Incompatible with ENGN4627.

Prescribed Texts

Recommended text:

  • M. Spong, S. Hutchinson and M. Vidyasager, Robot Modelling and Control, Wiley, 2006.

Fees

Tuition fees are for the academic year indicated at the top of the page.  

Commonwealth Support (CSP) Students
If you have been offered a Commonwealth supported place, your fees are set by the Australian Government for each course. At ANU 1 EFTSL is 48 units (normally 8 x 6-unit courses). More information about your student contribution amount for each course at Fees

Student Contribution Band:
2
Unit value:
6 units

If you are a domestic graduate coursework student with a Domestic Tuition Fee (DTF) place or international student you will be required to pay course tuition fees (see below). Course tuition fees are indexed annually. Further information for domestic and international students about tuition and other fees can be found at Fees.

Where there is a unit range displayed for this course, not all unit options below may be available.

Units EFTSL
6.00 0.12500
Domestic fee paying students
Year Fee
2021 $4410
International fee paying students
Year Fee
2021 $5880
Note: Please note that fee information is for current year only.

Offerings, Dates and Class Summary Links

The list of offerings for future years is indicative only.
Class summaries, if available, can be accessed by clicking on the View link for the relevant class number.

Second Semester

Class number Class start date Last day to enrol Census date Class end date Mode Of Delivery Class Summary
5355 26 Jul 2021 02 Aug 2021 14 Sep 2021 29 Oct 2021 In Person N/A

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