Robert Katzschmann: Catalogue data in Autumn Semester 2024 |
| Name | Prof. Dr. Robert Katzschmann |
| Name variants | Robert K. Katzschmann R. Katzschmann Robert K Katzschmann Robert Katzschmann Robert Kevin Katzschmann |
| Field | Robotics |
| Address | Professur für Robotik ETH Zürich, CLA F 1.2 Tannenstrasse 3 8092 Zürich SWITZERLAND |
| Telephone | +41 44 632 22 40 |
| rkk@ethz.ch | |
| URL | http://srl.ethz.ch |
| Department | Mechanical and Process Engineering |
| Relationship | Assistant Professor (Tenure Track) |
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| 151-0073-20L | ReefRanger  This course is part of a one-year course. The 20 credit points will be issued at the end of FS2025 with new enrolling for the same Focus Project in FS2025. For MAVT BSc and ITET BSc only. Prerequisites for the focus projects: a. First year examinations successfully passed. b. Block 1 and 2 successfully passed. | 0 credits | 21A | R. Katzschmann | ||||||||||||||||||||||||||||||||||||||||||||||||||
| Abstract | Students develop and build a product from A-Z! They work in teams and independently, learn to structure problems, to identify solutions, system analysis and simulations, as well as presentation and documentation techniques. They build the product with access to a machine shop and state of the art engineering tools (Matlab, Simulink, etc). | |||||||||||||||||||||||||||||||||||||||||||||||||||||
| Learning objective | The various objectives of the Focus Project are: - Synthesizing and deepening the theoretical knowledge from the basic courses of the 1. - 4. semester - Team organization, work in teams, increase of interpersonal skills - Independence, initiative, independent learning of new topic contents - Problem structuring, solution identification in indistinct problem definitions, searches of information - System description and simulation - Presentation methods, writing of a document - Ability to make decisions, implementation skills - Workshop and industrial contacts - Learning and recess of special knowledge - Control of most modern engineering tools (Matlab, Simulink, CAD, CAE, PDM) | |||||||||||||||||||||||||||||||||||||||||||||||||||||
| Prerequisites / Notice | Participation in the Focus Rollout is part of the Focus Project. | |||||||||||||||||||||||||||||||||||||||||||||||||||||
Competencies |
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| 151-0615-00L | Real-World Robotics - A Hands-On Project Class Registration is only possible up to 18.09.2024. Students must also complete a Google Form (https://forms.gle/pnMHTCdZwgdawb519) by 18.09.2024 to be considered for the course. Registered students and students on the waiting list will all be considered based on their submitted Google Forms. | 4 credits | 9A | R. Katzschmann | ||||||||||||||||||||||||||||||||||||||||||||||||||
| Abstract | During this course, the students will develop an articulated robotic hand to solve a real-world robotic challenge: the robot must autonomously grasp and place objects. The students will learn the key theoretical concepts required to model, manufacture, control, and test their robot, alongside developing machine learning, programming, hardware, and engineering skills through the hands-on project. | |||||||||||||||||||||||||||||||||||||||||||||||||||||
| Learning objective | * Learning Objective 1: High-Level System Design System and product design combined with requirement generation and verification are essential for this robotics project. The students will apply previously acquired system design knowledge and methods to a hands-on challenge. * Learning Objective 2: Robot Design and Simulation Students will gain experience implementing and simulating robotic systems using modern design, modeling, and simulation techniques such as CAD and Isaac Gym. These techniques are essential in any design process to understand the expected system behavior. This requires a thorough understanding of the system’s kinematics, dynamics, material, actuation principle, and physical limitations. Students will learn the theory and limitations behind modeling and simulation software. * Learning Objective 3: Robot Fabrication Students will learn to use the previously designed CAD models for successful robot fabrication. Additionally, the iterative nature of the process will allow them to develop their critical thinking skills in assessing the limitations of their design and possible sources for improvements. Building the robot will equip students with essential skills for using robots in the real world. * Learning Objective 4: Control, Integration, and Testing Students can apply the knowledge acquired in their control and machine learning courses. They will gain theoretical knowledge on modeling and developing intelligent control algorithms. They will be taught perception methods and state-of-the-art machine-learning techniques. They will gain experience testing their robots’ performance in both hard and software to enhance their design and suggest future improvements. | |||||||||||||||||||||||||||||||||||||||||||||||||||||
| Content | During this course, the students will be divided into teams, and each group will independently develop an articulated robotic arm to solve a real-world robotic challenge. The students will learn the key theoretical concepts required to model, manufacture, control, and test a robot and develop programming, machine learning, hardware, and engineering skills through hands-on workshops. The students will compete in a real-world robotic challenge that takes place at the end of the course. This course is composed of tutorials, which will be available on the course website, where the lecturer will provide all the necessary theoretical input, focus talks where robotic experts will present a particular aspect of the manipulator in detail, and workshops where the students will have the possibility to hands-on learn how to implement the solutions required to solve their challenge. Finally, there will be time slots to autonomously work on the manufacturing and developing the team's robot. An online forum will be available to help the students throughout the course. This course is divided into six parts: Part 1: Challenge introduction - Identify the functional requirements necessary for the final challenge - Evaluate the existing manipulator designs to optimize them for the specific task Part 2: Robot Design - Develop a CAD model based on the high-level system design. - Integrate motors, pneumatics components, and other required materials in the design Part 3: Robot Fabrication - Come up with a fabrication method and plan using the presented fabrication skills. - Fabricate the robot and its actuators based on the CAD model. - Evaluate, modify, and enhance the fabrication approach. Part 4: Soft Robot Simulation - Simulate the soft manipulator through a simulation framework - Optimize the simulation parameters to reflect the experimental setup Part 5: Control, Integration, and Testing - Formulate the dynamic skills needed for real-life application. - Develop traditional and learning-based control algorithms and test them in simulation. - Integrate controller design into the fabricated robot. - Build, test, fail, and repeat until the soft robot works as desired in simple tasks. - Upgrade and validate the robot for performance in real-world conditions and verify requirements. Part 6: Product development - Understand the challenges associated with the manufacturing process to bring the robot from a prototype to the final product - Optimize the robot for production | |||||||||||||||||||||||||||||||||||||||||||||||||||||
| Lecture notes | All class materials, including slides, video tutorials, and supporting literature, can be found on the class webpage (https://rwr.ethz.ch) and Moodle, supported by discussion and Q&A forums. Focus talks, Q&A sessions, and workshops will happen on Mondays between 14:00 and 16:00. | |||||||||||||||||||||||||||||||||||||||||||||||||||||
| Literature | 1) Toshimitsu, Y., Forrai, B., Cangan, B. G., Steger, U., Knecht, M., Weirich, S., & Katzschmann, R. K. (2023, December). Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints. In 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids) (pp. 1-7). IEEE. 2) Liconti, D., Toshimitsu, Y., & Katzschmann, R. (2024). Leveraging Pretrained Latent Representations for Few-Shot Imitation Learning on a Dexterous Robotic Hand. arXiv preprint arXiv:2404.16483. 3) Egli, J., Forrai, B., Buchner, T., Su, J., Chen, X., & Katzschmann, R. K. (2024). Sensorized Soft Skin for Dexterous Robotic Hands. arXiv preprint arXiv:2404.19448. 4) Yasa, O., Toshimitsu, Y., Michelis, M. Y., Jones, L. S., Filippi, M., Buchner, T., & Katzschmann, R. K. (2023). An overview of soft robotics. Annual Review of Control, Robotics, and Autonomous Systems, 6, 1-29. | |||||||||||||||||||||||||||||||||||||||||||||||||||||
| Prerequisites / Notice | Students are expected to have attended introductory courses in dynamics, control systems, and robotics. Registration for this course is limited due to the amount of resources needed to make this course happen. For this reason, it is required to apply through the following module: https://forms.gle/pnMHTCdZwgdawb519 The course's graded semester performance consists of the final team performance in the class challenge, a final team presentation and report, weekly Moodle quizzes, and attendance at the focus talks and workshops. Focus talks, Q&A, and workshops are Mondays from 14:00 to 16:00. Focus talks + Q&A will be from 14:00 to 15:00 in CLA E4. Workshops will be from 15:00 to 16:00 in CLA E32. The student teams can work every day at any time on their projects in the course room CLA E32. | |||||||||||||||||||||||||||||||||||||||||||||||||||||
| Competencies |
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| 151-0623-00L | ETH Zurich Distinguished Seminar in Robotics, Systems and Controls | 1 credit | 1S | B. Nelson, M. Hutter, R. Katzschmann, C. Menon, R. Riener, R. Siegwart | ||||||||||||||||||||||||||||||||||||||||||||||||||
| Abstract | This course consists of a series of seven lectures given by researchers who have distinguished themselves in the area of Robotics, Systems, and Controls. | |||||||||||||||||||||||||||||||||||||||||||||||||||||
| Learning objective | Obtain an overview of various topics in Robotics, Systems, and Controls from leaders in the field. Please see http://www.msrl.ethz.ch/education/distinguished-seminar-in-robotics--systems---controls--151-0623-0.html for a list of upcoming lectures. | |||||||||||||||||||||||||||||||||||||||||||||||||||||
| Content | This course consists of a series of seven lectures given by researchers who have distinguished themselves in the area of Robotics, Systems, and Controls. MSc students in Robotics, Systems, and Controls are required to attend every lecture. Attendance will be monitored. If for some reason a student cannot attend one of the lectures, the student must select another ETH or University of Zurich seminar related to the field and submit a one page description of the seminar topic. Please see http://www.msrl.ethz.ch/education/distinguished-seminar-in-robotics--systems---controls--151-0623-0.html for a suggestion of other lectures. | |||||||||||||||||||||||||||||||||||||||||||||||||||||
| Prerequisites / Notice | Students are required to attend all seven lectures to obtain credit. If a student must miss a lecture then attendance at a related special lecture will be accepted that is reported in a one page summary of the attended lecture. No exceptions to this rule are allowed. | |||||||||||||||||||||||||||||||||||||||||||||||||||||