Overview

This course explores the key technologies that enable modern robotic systems, focusing on embodiment, interaction, and advanced interfaces. Learners will study how different physical designs and human-centered technologies influence robot capabilities. The course provides insights into cutting-edge developments shaping next-generation robotics. This course is part of the "Robotics & Robots" Specialization. Contributors: Prof. Bruno Siciliano, University of Naples, Federico II (curator) Proff. Wolfram Burgard, Nuremberg Institute of Technology/Cyrill Stachniss, University of Bonn/ Giorgio Grisetti, Sapienza University of Rome; Elizabeth Croft, Monash University; Kensuke Harada, The University of Osaka; Cecilia Laschi, National University of Singapore; Jörn Malzahn/Torsten Bertram/Freia I. Muster, Dortmund University; Maud Marchal, INSA Rennes/ Claudio Pacchierotti, INRIA CNRS; Nicola Vitiello, Sant’Anna School of Advanced Studies, Pisa "A special mention goes to Mario Selvaggio for his tireless dedication to the project, interacting with all the lesson authors, ensuring consistency and soundness throughout, also in connection with the Springer Nature books supporting the MOOC course. His contribution to defining the problems posed at the end of the various lessons was crucial" - Bruno Siciliano

Syllabus

Compliant and Soft Robotics

This week explores compliant robotic technologies, focusing on elastic and soft systems as alternatives to rigid-body robotics. Learners first examine the fundamentals of elasticity, including stress–strain relationships, material properties, and dynamic behavior, extending to multi-degree-of-freedom systems and the modeling of elastic joints and links. The course then covers the role of elasticity in robot design, including actuation strategies, variable impedance, and the use of intrinsic dynamics for sensing and impact mitigation. The second part introduces soft robotics, presenting actuation and stiffening technologies, control approaches, and representative applications such as assistive devices and medical systems.

Human-Centered Technologies

This week explores human-centred technologies, focusing on wearable robotics and virtual reality with haptics. Learners examine the motivations behind wearable robots, including ageing populations and assistive needs, as well as their classification, design principles, and applications in rehabilitation, assistance, and augmentation, supported by real-world case studies. The role of cognitive and physical human–robot interfaces and ergonomic design is emphasized to ensure safe and effective integration with the human body. The second part introduces virtual reality and haptic technologies, covering interaction principles, perception, and applications for immersive and remote robotic systems.

Humanoids and Interaction

This week explores humanoid robots as advanced platforms for human-centered interaction, starting from their historical development and design evolution. Learners examine key aspects of humanoid design, including locomotion mechanisms, actuation systems, manipulation capabilities, and human-like appearance and motion. The second part focuses on human–robot interaction (HRI), covering interaction paradigms, autonomy levels, safety considerations, and communication modalities. The week also introduces methodologies for designing, evaluating, and analyzing HRI systems, emphasizing experimental approaches and ethical considerations.

Mapping and Localization Technologies

This week introduces Simultaneous Localization and Mapping (SLAM) as a fundamental technology for autonomous robots. Learners explore its probabilistic formulation and the graph-based approach, focusing on how robot poses and observations are represented and optimized. The course covers key techniques such as iterative error minimization, least-squares optimization on manifolds, and the structure of the underlying systems. Practical aspects, including robustness to outliers and real-world applications, are also addressed.