Service Robotics — U24ME601 / U24EC601
Credits: L-T-P-C = 3-0-2-4 | Batch: 2025-2029 | Category: Specialization Course for Robotics and Industrial Automation
SDG: Sustainable Development Goals (per syllabus header)
Preamble
This course provides insights into the concepts of Service Robots starting from understanding the basic blocks for designing a service robot in simulation platform, assembling the unit and understanding the programming for the controllers with peripheral interface like sensors and actuators.
Course Outcomes
| CO | Outcome | Level |
|---|---|---|
| CO1 | Explain the construction and working of robotics | K2 |
| CO2 | Use CoppeliaSim to program robots | K3 |
| CO3 | Describe aerial and bioinspired robots | K1 |
| CO4 | Design circuits to interface sensors with Arduino | K3 |
| CO5 | Build mobile robots with sensors and actuators | K3 |
| CO6 | Explain industrial sensors, drives and give examples of its application | K2 |
Course Syllabus — Total: 75 Hours
Module 1 — Principles of Robotics (15h)
Introduction to Robotics, Robot Classification, Introduction to Coppelia Sim, Fundamentals of Coppelia Sim, Building Blocks of Mobile Robot, Coppelia Sim — Station components, Toolboxes in Coppelia, Work with Mobile Robots in Coppelia Sim — Robot Frames, Robot Assembly, Building Blocks of a mobile Robot — Joints — Primitive Shapes — Types of Locomotion, Limitations of Mobile Robots, Lua Programming language — Scripts in CoppeliaSim.
- Design the workspace building using Simulation environment in CoppeliaSim.
- Design the building of maze using Simulation environment in CoppeliaSim
Module 2 — Robot Perception (15h)
Introduction to Braitenberg Robots — Braitenberg Principle — Examples of Braitenberg, Introduction to Robot Perception — What is a Sensor — Characteristics of a Sensor — Different sensors for Service Robots — Working with Proximity sensors — Principles and Types of Proximity Sensors — Object Detection in Coppelia Sim — Proximity sensors for detecting obstacles.
- Design the differential drive and the programming for differential drive using keyboard controller.
- Design the line follower mobile robot in CoppeliaSim
Module 3 — Aerial & Bioinspired Robot (15h)
Introduction to Aerial Vehicles in Coppelia Sim — Parts of a quadcopter & Flying Techniques — Piloting, Bioinspired Robots — Control of legged robot in Coppelia Sim — What is a gait? — Different gait motions in animals & humans — Assembly of legged robot, Humanoid Robot — Principle of Humanoid Robot — Handling Gaits in Humanoid Robots — Challenges in Biped Motion.
- Design the obstacle avoidance mobile robot in CoppeliaSim
- Design the wall climbing robot in CoppeliaSim.
Module 4 — Controller for Robot (15h)
Build Robots in Real Time — Arduino — Fundamentals of Arduino — Components in Prag Auxiliary Kit — Programming LED, Motors in Arduino — Working with a Potentiometer in Arduino — Programming sensors in Arduino — Build Robots in Real time — Robot Assembly — Assembling a Mobile Robot — Connecting Arduino with Ultrasonic Sensor — Connecting Arduino with Infra-red sensors — Understanding Omni Directional Motion in Mobile Robot. Introduction to Industrial Sensors — Types of sensors.
- Interfacing Arduino with Ultrasonic sensor.
- Interphasing Arduino with IR sensor.
- Interphasing Arduino with motors.
- Constructing a mobile robot controlled by Arduino.
Module 5 — Drives (15h)
Principles of Hydraulics — Construction of Hydraulic Circuits, Types of valves. Principles of pneumatics — Construction of pneumatic circuits — direction control valve, pressure release valve, pressure regulate valve, air compressors & filters, Introduction to Motors — Types of motors.
- Constructing a hydraulic circuit.
- Constructing a pneumatic circuit.
- Industrial Sensors — designing circuit with inductive sensor
- Industrial Sensors — designing circuit with capacitive sensor
- Industrial Sensors — designing circuit with photo electric sensor
Activities
- Design the Robot from scratch and test the performance of the robot in simulation environment.
- Write program in Arduino controller and interfacing it with various sensors.
- Build drives based on the application.
Learning Resources
- J. Buchli (eds.): "Mobile Robots - Moving Intelligence", Published by Advanced Robotic Systems International Verlag, 2006
- John Craig, "Introduction to Robotics: Mechatronics and Controllers", Published by Pearson, 4th edition, 2017
Mapping of COs with POs
| CO/PO | PO1 | PO2 | PO3 | PO4 | PO5 | PO6 | PO7 | PO8 | PO9 | PO10 | PO11 | PSO1 | PSO2 | PSO3 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| CO1 | 3 | 2 | - | - | 1 | - | - | - | - | - | - | 2 | 1 | - |
| CO2 | 2 | 3 | 2 | 2 | 3 | - | - | - | - | - | - | 3 | 2 | 2 |
| CO3 | 2 | 1 | - | - | 1 | - | - | - | - | - | - | 1 | - | 1 |
| CO4 | 3 | 3 | 3 | 2 | 3 | - | - | - | - | - | - | 3 | 3 | 2 |
| CO5 | 3 | 3 | 3 | 2 | 3 | - | - | 2 | 1 | - | - | 3 | 3 | 3 |
| CO6 | 3 | 2 | 1 | - | 2 | - | - | - | - | - | - | 2 | 3 | 2 |
Program Articulation Matrix
| Course | PO1 | PO2 | PO3 | PO4 | PO5 | PO6 | PO7 | PO8 | PO9 | PO10 | PO11 | PSO1 | PSO2 | PSO3 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| U24ME601 Service Robotics | 3 | 3 | 2 | 1 | 3 | - | - | - | 1 | 1 | - | 3 | 2 | 2 |
- Teacher: Site Owner