Human & Robot Interaction Lab. (TaarLab)

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 Course plan  PDFicon50x50   


Course Description:

This course aims at introducing and laying down the fundamental of modeling, design, planning ans synthesis of mechanical robot systems such as serial manipulators, parallel manipulators, humanoid and mobile robots. The materials elaborated during this course tempt to provide an insight into relevant issues into kinematics, statics and dynamics of robotic mechanical systems. Control of robotic mechanical systems is not directly treated and it is covered upon a practical project. The course is established in such a way that includes readings, 6 homework and one project. There will be six quizzes and a final examination. These examinations will be open book unless otherwise stated. Lectures will be based mainly, but not exclusively, on material in the textbook given below. Students are asked to show they abilities in applying theoretical concepts into practical problems for which one practical projects are envisaged for this end. To provide the essential materials for practical project several workshops are considered which are given by the TA listed below.

Time: Sunday 08:00--09:30 and Thursday 08:00--09:30

Room: A10

Instructor: Mehdi Tale Masouleh

Teaching Assistant: Behzad Danaei

Office Hours: 9:00-10:00 Wednesday



  1. Fundamentals of Robotic Mechanical Systems (Theory, Methods and Algorithms), Jorge Angeles
  2. Parallel Robots,  Jean-Pierre Merlet
  3. Type Synthesis of Parallel Mechanisms, Xaniwen Kong and Cl'ement Gosselin


  • LATEX2e (Words typeset are not accepted)
  • Matlab
  • Maple
  • A CAD software (Preferably SolidWorks)
  • Last but not least: Patience

Course Outline:

Fundamentals of Robotic Mechanical Systems -- 10 weeks
Chapter 2 approx 2 weeks
Quiz I                                           Solution
Chapter 3 approx 2 weeks
Quiz II                                           Solution
Chapter 4 approx 2 weeks
Chapter 5 approx 1 week
Quiz III                                           Solution
Chapter 6 approx 1 week
Chapter 7 ADAMS approx 2 weeks
First Exam 4 hours


Parallel Robots -- 7 weeks
Chapter 2 and Introduction into Screw Theory approx 2 weeks
Quiz III  
Chapter 3 approx 1 week
Chapter 4 approx 1 weeks
Quiz IV
Chapter 5 approx 1 weeks
Chapter 6 approx 1 weeks
Quiz V
Chapter 7 approx 1 week
Final Exam 4 hours


Humanoid Robots -- 2 weeks
Introduction to Humanoid Robots and Kinematics Analysis approx 1 week
Case study: You Will Learn to Program NAO H25 approx 1 week


 Files to Download:


Projects: Works done by students are of two sorts:

  1. Six Homeworks: Homeworks are essentially based on theoretical concepts and are designated to get familiar students with basic issue of robotic mechanical systems.
  2. One Practical Project: Practical project is considered in this course in order to have some insight of theoretical concept into practical concepts. This project is:
    • Kinematic ans static analysis of NAO H25.

Report: Homeworks should be done individually, unless otherwise is  stated,   and plagiarism is not tolerated. In the case of plagiarism,  the note of the corresponding work would be marked as zero. All the reports should be typeset  in LATEX, upon following the class proposed by IEEE. The report should follows the the instruction given by IEEE and includes:

  • Abstract
  • Introduction
  • Main body (each section should corresponds to a problem)
  • Conclusion
  • Reference

Academic Honesty: As a University of Tehran student, you have agreed to abide by the University's academic honesty policy. A  Lack of knowledge of the academic honesty policy is not a reasonable explanation for a violation. Questions related to course assignments and the academic honesty policy should be directed to the instructor.. 

 In this regard, we invite you to see the following clip in order to have a better understanding in how we are able to find out whether  your homework is done by yourself or one of your classmate. Kolah Ghermezi TaarLab

Extra Help: Dot not hesitate to come to my office or contact me during office hours or by appointment to discuss a homework problem or any aspect of the course. Moreover, TA considered for each part  are also at your total disposal for helping you in your homework, projects and exams.

Important Dates and Grades: Quizzes (5% each)  and Final Exam (5% each) are scheduled based on the calender provided in the course outline and have flexible date.


Homeworks (?% each)

First Homework
1393/12/29 Submit 
Second Homework --
Third Homework --
Fourth Homework --  
Fifth Homework --  


Projects (?%)

Project 01 1394/01/23 Submit
Project 02 1394/01/26  


Quizzes and Exams

Quiz I Chapter 2,3 1394/01/30
Quiz II Chapter 4,5 1394/02/07
Quiz III Chapter 5_1,6 -
Quiz IV Chapter 7,8 -
Final Exam Parallel Robots -

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