Robotics and Control : Theory and Practice


Prof. N. Sukavanam
Prof. M. Felix Orlando

IIT Roorkee

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SKU: IIT Roorkee Category:


Robotics has stimulated an growing interest among a wide range of scholars, researchers and students due to its interdisciplinary characteristics. The development of this field of science is boosted by various domains which are not limited to Cybernetics, Controls, Computers, Mechanics, Bio-Engineering, and Electronics. Among these areas, modelling, control, planning play a fundamental role not only in the growth of industrial robotics, but also towards the advanced fields including healthcare and field robotics.
Through this course the participants will acquire the ability to conduct research, develop innovative designs in the field of systems engineering and control of robots and to direct the development of engineering solutions in new or unfamiliar environments by linking creativity, innovation and transfer of technology.


Electrical Engineering, Computer Science Department, Mechanical Engineering,
Electronics and Communication Engineering, Mathematics Department.


Basic Mathematics


Prof. N. Sukavanam received his Ph. D from the Indian Institute of Science, Bangalore in 1985. He served as a Scientist-B at Naval Science and Technological Laboratory, DRDO for two years (1984-86). Then joined as a Research Scientist in the Department of Mathematics, IIT Bombay (1987-90). Worked as a Lecturer at BITS Pilani from 1990 to 1996. In May 1996 he Joined the Department of Mathematics at IIT Roorkee (University of Roorkee at that time) as an Assistant Professor. Currently he is a Professor in the Department of Mathematics IIT Roorkee and Head of the Mathematics from Feb. 2018. His areas of research includes Nonlinear Analysis, Control Theory and Robotics. Professor Sukavanam has published about 80 papers in refereed journals, 30 papers in International Conference Proceedings. He has guided 19 Ph. Ds, 60 M. Sc./M. Phil/MCA Dissertations. Organized International Workshop on Industrial Problems. Developed Pedagogy online course on Mathematics I, offered NPTEL online video course on Dynamical Systems and Control and conducted more than six QIP/Continuing Education courses on Robotics and Control

Dr. M. Felix Orlando received his Ph.D. from Electrical Engineering Department at Indian Institute of Technology Kanpur (IITK) in 2013, where his advisors were Prof. Laxmidhar Behera, Prof. Ashish Dutta, Prof. Anupam Saxena. In 2015, he completed his post doctoral fellowship at Case Western Reserve University, USA, working with Prof. Tarun Podder, Prof. Yan Yu, Prof. Hutapea focussing on Medical robotics. Dr. Felix Orlando has started as an Assistant Professor in the Department of Electrical Engineering at the Indian Institute of Technology Roorkee (IITR) from November 2015 onwards. He is also the member of IEEE, IEEE-Robotics and Automatin Society (IEEE-RAS), ASME. His current research focuses on medical robotics, rehabilitation robotics, visual servoing and Biomechanics. He is currently the board member of the Student Technical Committee (STC) of robotics, IITR. He has also received the Faculty Initiation Grant (FIG) from IITR for the duration 2016 to 2018. He has received the Early Career Research Award in 2017. He has also coordinated a GIAN course on robotics with Prof. Doik Kim of South Korea in 2017. He has chaired several technical sessions of IEEE international conferences which include, IEEE-AIM 2018, Auckland, IEEE-INDICON 2017, IIT Roorkee, IEEE IECON 2017, Beijing and IEEE ICCSCE 2016, Malaysia. He has presented research papers at various international conferences and has several international robotics journal papers.

Additional information



Total hours


Certification Process

1. Join the course
Learners may pay the applicable fees and enrol to a course on offer in the portal and get access to all of its contents including assignments. Validity of enrolment, which includes access to the videos and other learning material and attempting the assignments, will be mentioned on the course. Learner has to complete the assignments and get the minimum required marks to be eligible for the certification exam within this period.

COURSE ENROLMENT FEE: The Fee for Enrolment is Rs. 2000 + GST

2. Watch Videos+Submit Assignments
After enrolling, learners can watch lectures and learn and follow it up with attempting/answering the assignments given.

3. Get qualified to register for exams
A learner can earn a certificate in the self paced course only by appearing for the online remote proctored exam and to register for this, the learner should get minimum required marks in the assignments as given below:

Assignment score = Score more than 50% in at least 6/8 assignments.
Exam score = 50% of the proctored certification exam score out of 100
Only the e-certificate will be made available. Hard copies will not be dispatched.”

4. Register for exams
The certification exam is conducted online with remote proctoring. Once a learner has become eligible to register for the certification exam, they can choose a slot convenient to them from what is available and pay the exam fee. Schedule of available slot dates/timings for these remote-proctored online examinations will be published and made available to the learners.

EXAM FEE: The remote proctoring exam is optional for a fee of Rs.1500 + GST. An additional fee of Rs.1500 will apply for a non-standard time slot.

5. Results and Certification
After the exam, based on the certification criteria of the course, results will be declared and learners will be notified of the same. A link to download the e-certificate will be shared with learners who pass the certification exam.


Course Details

Week 1 : Simple manipulators: Two /three arm manipulators and their kinematics equations, Work space Homogeneous Transformation: Rotation, Translation, Composition of homogeneous transformations
Week 2 : Danavit-Hartimber Algorithm: D-H procedure for fixing joint coordinate frames, Robot parameters, Arm matrix, Inverse Kinematics for PUMA, SCARA manipulators.
Week 3 : Introduction to Robotic Exoskeletons,Optimal Design of a Three Finger Exoskeleton for Rehabilitation Purpose
Week 4 : Differential transformation and velocity of a frame: Derivative of a frame, Velocity, Jacobian, Inverse Jacobian, Trajectory Planning: Polynomial trajectory, Biped trajectory
Week 5 : Dynamics: Lagrangian method, Robot dynamics equation,Control: Robot dynamics equation as a control system, Trajectory tracking control, PD controller, Neural network control design
Week 6 : Redundancy Resolution of Human Fingers using Robotic Principles,Manipulability Analysis of Human Fingers during Coordinated Object Rotation,Kinematics of Flexible Link Robots,
Week 7 : Robot Assisted Needling System for Percutaneous Intervention-An Introduction,Smart Robotic Needles for Percutaneous Cancerous Interventions
Week 8 : Robust Force Control of a Two Finger Exoskeleton during Grasping ,Neural Control of an Index Finger Exoskeleton – Lecture 1,Neural Control of an Index Finger Exoskeleton – Lecture 2

Books and References

1. Richard Paul, Robot Manipulators: Mathematics, Programming and Control, MIT Press, 1981
2. Robert Shilling, Fundamentals of Robotics, Prentice-Hall , 2003
3. Laxmidhar Behera and Indrani Kar, “Intelligent Systems and Control”, Oxford University Press, Nov 2009.
4. M. Felix Orlando, Ashish Dutta, Anupam Saxena, Laxmidhar Behera, Tomoya Tamei and Tomohiro Shibata, “Manipulability Analysis of Human Thumb, Index and Middle Finger in Cooperative 3D Rotational Movements of a Small Object”, Robotica, vol. 31, pp. 797-809, 2013.
5. M. Felix Orlando, Laxmidhar Behera, Tomayo Tamei, Tomohiro Shibata, Ashish Dutta and Anupam Saxena,” On Redundancy Resolution of the Human Thumb, Index and Middle Fingers in Cooperative Object Translation,” Robotica, vol. 35, pp. 1992-2017, 2016.


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