Academic years 2019-20 and 2020-21 (second semester)
[This page is no longer updated since February 15, 2022]

IMPORTANT. Lecture slides and video lectures in this page refer to the Robotics 2 course delivered in the two academic years 2019-20 and 2020-21. Files of materials (mostly, lecture slides) updated/added in 2020-21 carry the extension "_2020-21" in their name. For the actual program, please check below the Syllabus associated to the first year of your master studies. This page does not contain other teaching materials (such as texts and solutions of written exams, articles for further reading, Matlab files, etc.). For these, please go to the latest page of Robotics 2 materials.

VIDEO LECTURES. Video recordings of the course lectures given (in class or remotely) during the academic year 2019-20 are available in the Robotics 2 playlist of the Video DIAG - Sapienza YouTube channel. There are 37 video lectures for a total of about 52 hours. The set of slides in this page is permanently associated to the recorded lectures. Selected lectures are placed also on a playlist of my YouTube channel.

Lecture slides (with number of slides and date of the latest version uploaded)
and link to the associated Video lectures [with duration and date of the recording]

Syllabus_ProgramRob2_2020-21.pdf  (May 26, 2021)
Syllabus_ProgramRob2_2019-20.pdf  (June 16, 2020)

00_Introduction_2020-21.pdf (22 slides; February 21, 2021)

00_Introduction_2019-20.pdf (23 slides; February 26, 2020)  
---> Video Lecture 01 part 1 [1h41'30"; slides 1-14; 24 Feb 2020] + Video Lecture 01 part 2 [37'42"; slides 15-21 (no 22-23); 26 Feb 2020]

01_Calibration.pdf (16 slides; February 26, 2020)     
---> Video Lecture 02 [1h05'52"; slides 1-16; 26 Feb 2020]

02_KinematicRedundancy_1.pdf (48 slides; March 4, 2020)  
---> Video Lecture 03 [1h37'45"; slides 1-16; 2 Mar 2020] + Video Lecture 04 part 1 [1h11'31"; slides 17-25; 4 Mar 2020]
       + Video Lecture 04 part 2 [1h11'01"; slides 26-41; 4 Mar 2020] + first part of Video Lecture 05 [up to 35'48"; slides 42-48; 9 Mar 2020]

02_KinematicRedundancy_2.pdf (35 slides; March 5, 2020)   
---> remaining part of Video Lecture 05 [from 35'49", total 1h48'41"; slides 1-12; 9 Mar 2020] + Video Lecture 06 [1h43'44"; slides 13-34 (no 35); 11 Mar 2020]

03_LagrangianDynamics_1.pdf (28 slides; March 22, 2021)
---> Video Lecture 07 [1h25'42"; slides 1-9; 16 Mar 2020] + Video Lecture 08 part 1 [1h15'34"; slides 10-16; 18 Mar 2020]
       + Video Lecture 08 part 2 [1h34'42"; slides 17-25; 18 Mar 2020] + first part of Video Lecture 09 [up to 32'59"; slides 26-28; 23 Mar 2020]

04_LagrangianDynamics_2.pdf (14 slides; March 24, 2020) 
---> remaining part of Video Lecture 09 [from 33'00", total 1h51'01"; slides 1-14; 23 Mar 2020]

05a_LagrangianDynamics_3.pdf (31 slides; March 24, 2020)

---> Video Lecture 10 part 1 [1h28'30"; slides 1-17; 25 Mar 2020] + Video Lecture 10 part 2 [1h33'18"; slides 18-31; 25 Mar 2020]

05b_LinearParametrizationIdentification.pdf (23 slides; March 29, 2020)
---> Video Lecture 11 [1h52'51"; slides 1-23; 30 Mar 2020]

06_NewtonEulerDynamics.pdf (16 slides; March 31, 2020)
---> Video Lecture 12 [1h45'46"; slides 1-16; 1 Apr 2020]

07_IntroControl.pdf (29 slides; April 19, 2020)
---> Video Lecture 13 part 1 [1h21'53", slides 1-19; 20 Apr 2020] + Video Lecture 13 part 2 [55'42"; slides 20-29; 20 Apr 2020]

08_Regulation.pdf (37 slides; April 24, 2020)
---> Video Lecture 14 part 1 [1h00'00"; slides 1-12; 22 Apr 2020] + Video Lecture 14 part 2 [1h58'16"; slides 13-30; 22 Apr 2020]
       + Video Lecture 14 part 3 [27'32"; slides 31-37; 22 Apr 2020]
 
09_IterativeLearning.pdf (16 slides; April 26, 2020)
---> Video Lecture 15 part 1 [48'48''; slides 1-16; 27 Apr 2020]

10_TrajectoryControl_2020-21.pdf (35 slides; May 5, 2021)

10_TrajectoryControl_2019-20.pdf (26 slides; April 27, 2020)
---> Video Lecture 15 part 2 [1h01'20''; slides 1-11; 27 Apr 2020] + Video Lecture 16 part 1 [1h18'56''; slides 12-26, 29 Apr 2020]

11_RobustControl.pdf (24 slides; April 30, 2010) NOT in program in 2019-20 and 2020-21 (for personal reading)

12_AdaptiveControl.pdf (22 slides; April 27, 2020)
---> Video Lecture 16 part 2 [1h01'18''; slides 1-19; 29 Apr 2020]

13_CartesianControl.pdf (13 slides; May 3, 2020)
---> Video Lecture 17 [49'54"; slides 1-13; 4 May 2020]

14_EnvironmentInteraction.pdf (44 slides; May 2, 2020)
---> Video Lecture 18 part 1 [1h15'47"; slides 1-23; 4 May 2020] + Video Lecture 18 part 2 [2h03'06"; slides 24-44; 6 May 2020]

15_ImpedanceControl.pdf (17 slides; May 10, 2020)
---> Video Lecture 19 [1h13'27"; slides 1-17; 6 May 2020]

16_HybridControl.pdf (33 slides; May 11, 2020)
---> Video Lecture 20 part 1 [1h45'33"; slides 1-17; 11 May 2020] + Video Lecture 20 part 2 [1h13'48''; slides 18-32; 11 May 2020]

17_VisualServoing.pdf (53 slides; May 12, 2020)
---> Video Lecture 21 [2h08'52"; slides 1-53; 15 May 2020; presented by Prof. Marilena Vendittelli]

18_ActuationFaults.pdf (29 slides; May 16, 2020)
---> Video Lecture 22 [2h18'56''; slides 1-29; 18 May 2020]

19_CollisionDetectionReaction.pdf (48 slides; May 20, 2020)
---> Video Lecture 23 part 1 [1h56'37"; slides 1-33; 20 May 2020] + Video Lecture 23 part 2 [42'11"; slides 34-48; 20 May 2020]

20_HR_CoexistenceCollaboration.pdf (75 slides; June 2, 2020)
---> Video Lecture 24 part 1 [1h50'24''; slides 1-38; 25 May 2020] + Video Lecture 24 part 2 [1h43'27''; slides 39-75; 25 May 2020]

Videos (shown during the lectures)

Syllabus_VideoRob2.pdf (May 26, 2021)

00_Rob2_Videos.zip
01_Rob2_Videos.zip
02_1_Rob2_Videos.zip
02_2_Rob2_Videos.zip
05_Rob2_Videos.zip
07_Rob2_Videos.zip
09_Rob2_Videos.zip
10_Rob2_Videos.zip
14_Rob2_Videos.zip
16_Rob2_Videos.zip
17_Rob2_Videos.zip
18_Rob2_Videos.zip
19_Rob2_Videos.zip
20a_Rob2_Videos.zip
20b_Rob2_Videos.zip