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Dec 21, 2025
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AUE 8220 - Autonomy: Mobility and Manipulation3 Credits (3 Contact Hours)
This course is intended to be a computational introduction to modeling, analysis and control of autonomous systems for enhanced physical interaction (mobility and manipulation) with the world. The first part of the course deals with the theoretical frameworks for modeling, analysis (kinematics and dynamics) and control of generic articulated robotic systems, rooted in rich traditions of mechanics and geometry. The rest of the course examines harnessing and enhancing the mobility and manipulation performance of articulated multi‑body mechanical systems in the context of serial- and parallel-chain manipulators, as well as wheeled mobile robots (and hybrid combinations of these systems). Case studies are used to highlight this process of systematic performance (mobility and manipulation) evaluation and enhancement for exemplary multi-body robotic systems.
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