Previous knowledge in Robot Programming and Machine Learning is required.

The objective of this course is to provide students with knowledge of mobile manipulator modeling, control, perception, and environmental modeling for navigation, manipulation, and grasping, as well as learning different tasks and applications.

1. Introduction: a. What is a mobile manipulator? b. Service robots: mobile manipulators, humanoid robots. 2. Kinematic and dynamic: mobile base -manipulator coordination. Control architectures. 3. Mobility. a. Perception: vision, telemetry. b. Environment modeling. The three-dimensional problem. c. Planning, navigation and location of mobile manipulators. 4. Manipulation and interaction control a. Perception: vision, force sensors. b. Force control c. Grasping d. Perception and modeling of the objects to be manipulated e. Perception-action integration 5. Human-robot interaction in navigation and manipulation 6. Real applications. Projects related to mobile manipulators

THEORETICAL AND PRACTICAL CLASSES. The knowledge students must acquire will be presented. They will receive class notes and basic reference texts to facilitate class follow-up and subsequent work. Students will solve exercises and practice problems, and workshops and assessment tests will be held to acquire the necessary skills. TUTORIALS. Individual assistance (individual tutorials) or group assistance (collective tutorials) will be provided to students by the instructor. INDIVIDUAL OR GROUP WORK FOR STUDENTS. An individual assignment will be provided for each of the practical sessions, and a group assignment will coordinate the knowledge acquired in both practical sessions. WORKSHOPS AND LABORATORIES. Two two-hour practical sessions will be held using simulators, with 100% in-person attendance. One practical session will focus on mobile manipulator navigation, and the other on manipulation.