Course Project: Programming and Control for Human-Robot Interaction

The lecture covers various aspects of robotic manipulation and human-robot interaction. It begins with theoretical foundations, continues through simulation-based implementation, and concludes with hands-on validation on the KUKA-DLR light-weight robot.

Addressed Topics:

• Robot modelling and parameter identification
• Position control
• Torque control
• Cartesian impedance control
• Collision detection
• Reactive path generation
• State machines for task programming