It is not required that the student had completed before any specific subject. However, it is highly recommended to have previous experience in topics related to robotics.

In robotics, the fields of application are growing everyday. Nowadays, the robot is much more than industrial machinery. The mobile manipulators are robots oriented to collaborate with human beings in tasks that require simultaneously mobility and manipulation (interaction with environment) capabilities. The main objective of this course is to introduce the students to the basic topics that are related to mobile manipulators, focusing on the particularities of this class of systems where the complexity is high and the evolution is fast.

Unit 1: Introduction. 1.1 Introduction to course. 1.2 Introduction to mobile manipulators. Unit 2: Motion planning. 2.1 Introduction. 2.2 Mobility, Redundancy. 2.3 Planning. 2.4 Algorithms. Unit 3: Force Control. 3.1 Force-Torque Sensors. 3.2 Force control - Examples. Unit 4: Grasping. 4.1 Robotic Hands. 4.2 Basic concepts. 4.3 Grasping planning. 4.4 Classic approach. 4.5 Grasping - manipulation. 4.6 State of the art. Unit 5. Perception. 5.1 Introduction to perception in robotics. 5.2 Perception systems - Sensors Unit 6. Robotic arms design. 6.1 Introduction to mobile manipulators design. 6.2 Examples.

The student has to attend to theoretical sessions about the topics included in the program of the subject. Oral presentations about previously selected research papers will be required. The topics of these papers will be the last developments related to the units included in the program. The subject has one lab session. Two hours per week will be available for tutorials.