Alessandro De Luca

Robotics 2

Prof. Alessandro De Luca
Dipartimento di Ingegneria informatica, automatica e gestionale Antonio Ruberti (DIAG)
Sapienza Università di Roma
Via Ariosto 25, 00185 Roma, Italy
office: A-210
tel: +39 06 77274 052
email: deluca [at] diag [dot] uniroma1 [dot] it

Academic year 2020-21 (second semester)

VERY IMPORTANT IN 2020-21. Please attend (either in the classroom or remotely with Zoom) the first lectures of this course, starting with Monday, February 22, 2021, in order to get acquainted with the new teaching organization that I have in mind. To book the presence in the classroom (room B2 of DIAG, building code RM102), see the Sapienza procedure. The Zoom link for accessing the lectures is given below. Also, please register as soon as possible (before the start of lectures!) to the Google Group of this course in 2020/21.

VIDEO LECTURES. The lectures of the course of the academic year 2019-20 have been fully video recorded and are available in the Robotics 2 playlist of the Video DIAG - Sapienza YouTube channel. Some lectures were recorded online in the classroom, but most of them offline and remotely due to the Covid-19 sanitary situation. Please note that these are traditional lectures with the use of multimedia material, not prepared on purpose for an online offering (differently from MOOC courses). More details in the Course material page.

Course material
Google group
Booking of exams

Aims: This course provides tools for: Advanced kinematics and dynamic analysis of robot manipulators; Design of feedback control laws for free motion and interaction tasks, including visual servoing.

Contents: Advanced kinematics for robot manipulators (calibration, redundancy resolution). Derivation and use of the dynamic model of robots (Euler-Lagrange and Newton-Euler formulations). Identification of dynamic coefficients. Inclusion of joint transmission elasticity. Linear and nonlinear control schemes for set-point regulation (PD with gravity compensation, saturated PID, iterative learning) and for trajectory tracking (feedback linearization and decoupling, passive control, adaptive control) in free motion tasks, as well as for interaction tasks with the environment (admittance control, compliance control, impedance control, hybrid force/velocity control). Image- and position-based visual servoing (kinematic treatment). Special topics will be presented in a seminarial way: diagnosis of robot actuator faults; detection of collisions and safe reaction; human-robot coexistence and physical collaboration.

Prerequisites: The course requires Robotics 1 (or its former italian version Robotica 1).

Courses of study: M.Sc. in Control Engineering (MCER), M.Sc. in Artificial Intelligence and Robotics (MARR)

ECTS Credits: 6 credits

Exams: written part + oral examination (in alternative, preparation of a project after passing a midterm test)


Remote access with Zoom:
You can access only if you join with your Sapienza institutional account (

Period: second semester (February-May 2021: about 12 weeks)
Begin: Monday, February 22, 2021
End: Monday, May 24, 2021

Schedule: [time zone: CET = UTC+1 until March 24, then CEST = UTC+2]

Monday 08:00-10:00 (room B2; DIAG, Via Ariosto 25)
Wednesday 14:00-17:00 (room B2; DIAG, Via Ariosto 25)

Note: Room B2 has 42 seats available, according to the Covid-19 Phase 3 rules on social distance. For seat reservation, see the Sapienza procedure (the DIAG department in Via Ariosto 25 has building code RM102 of Sapienza).

Distribution of students according to the course of study:

2020-21: 130 MARR (18 international students), 26 MCER (2), 2 Other (2), 1 Erasmus (international); Total: 159 students (Sapienza members of the Google group)
2019-20: 99 MARR (25 international students), 35 MCER (9), 1 Other (1), 2 Erasmus (international); Total: 137 students (88 present at first lecture, 135 members of the Google group)
2018-19: 82 MARR (25 international students), 44 MCER (9), 3 Other (1); Total: 129 students (102 present at first lecture)
2017-18: 59 MARR (20 international students), 28 MCER (18), 3 Other (1), 1 Erasmus (international); Total: 91 students (78 present at first lecture)
2016-17: 66 MARR (12 international students), 26 MCER (14), 1 PhD, 1 BIAR, 1 Other (1); Total: 95 students (75 present at first lecture)
2015-16: 52 MARR (10 international students), 28 MCER (6), 2 BIAR (1); Total: 82 students (65 present at first lecture)
2014-15: 16 MCER (4 international students), 14 MARR (2), 2 Erasmus (international); Total: 32 students (29 present at first lecture)
2013-14: 36 MARR (15 international students), 9 MCER, 5 Erasmus (international), 2 MELR; Total: 52 students (26 present at first lecture)
2012-13: 44 MARR (8 international students), 4 MELR (1), 4 Erasmus (international), 2 PhD, 1 MSIR; Total: 55 students (48 present at first lecture)
2011-12: 30 MARR (10 international students), 8 MSIR, 4 MELR (1 international student) + 2 LSER, 1 LAUR, 1 MMER; Total: 46 students (36 present at first lecture)
2010-11: 29 MARR (8 international students), 16 MSIR, 10 MELR (1 international student), 1 MMER; Total: 56 students (39 present at first lecture)
2009-10: 22 MARR (5 international students), 7 MSIR, 6 SELR, 3 SSIR, 2 MINR, 1 SMER (international student), 1 PhD Aero; Total: 42 students (24 present at first lecture)
2008-09: 6 MINR (3 international students), 2 LAUR; Total: 8 students (4 present at first lecture)

Course material

The textbook for Robotics 2 is:

B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo
"Robotics: Modelling, Planning and Control", 3rd Edition, Springer, 2009

Download the Errata Corrige for this book.

Only selected chapters are part of the course program, but this book is a perfect reference also for further studies. Other course material (PDF of the lecture slides, technical papers, data sheets, videos, texts of exams (with or without solution), exercises) is available in this page.

Google group

A Google group has been created to post questions about the content of the lectures, exchange information and discuss the topics of the course in general. New registrations are not accepted after the end of the lectures. Groups of past years are still active (but no new registrations are considered as well).

Access: Restricted to Sapienza students only. Please request admission at the URL using ONLY your institutional email address (if you already have one). When applying be sure to enter i) your first and last name as "Display Name", and ii) your Master program [Control Engineering (MCER) or AI & Robotics (MARR)], together with any other useful information about your current status, as "Reason for joining".

Booking of exams

Please book the exams via the web site Infostud, using your student ID ("matricola") and password. The same procedure applies also to incoming Erasmus+ students.

I open sessions only for the exam Robotics 2 (code 1021883, 6 credits). For past versions and any other situation, please contact me in advance.

VERY IMPORTANT: In order to do the Robotics 2 exam, it is mandatory that you have already passed the Robotics 1 exam! No exceptions.

Registrations to exams for the sessions of the academic year 2021-22 are still closed and will open on Infostud in early December 2021.

The calendar of exams for the sessions of the academic year 2020-21 has been published on November 28, 2020. Booking of the next available regular session opens on Infostud at the closing date for booking the previous regular session. Extra sessions open one month before the exam date. Due to Sapienza Phase 3 procedures against Covid-19, the booking deadline of each session is currently 2 weeks before the date of the written exam.

Last update: September 17, 2021