This lecture introduces advanced methods of robotics with a focus on manipulator control. The course covers the following topics:

• Dynamics: Euler-Lagrange formulation, recursive Newton-Euler algorithm, extensions of the dynamical model
• Nonlinear control: Lyapunov stability, gravity compensation, inverse dynamics, adaptive control, task space control
• Motion planning: Time-optimal trajectory generation, collision checking, configuration space, local path planning, global path planning
• Mobile robots: Basics of control and planning