- Learn and understand the physical laws of locomotion.
- Describe kinematics and dynamics of moving robots.
- Become acquainted with the control modes for basic forms of locomotion.
- Plan and execute tasks during robot locomotion.
- Learn how to use humanoid robots in various applications
- Design new ways to control the robot's locomotion.
Forms of Teaching
School board, Power Point presentation, movies, practical robot demonstrationsIndependent assignments
Seminar task: Presentation of a given subtopic by researching available sources from the InternetLaboratory
Five laboratory exercises: robot on wheels, robot with caterpillars, six-legged robot, four-legged robot, two-legged robot
|Type||Threshold||Percent of Grade||Threshold||Percent of Grade|
|Laboratory Exercises||100 %||20 %||100 %||20 %|
|Seminar/Project||100 %||20 %||0 %||0 %|
|Mid Term Exam: Written||50 %||30 %||0 %|
|Final Exam: Written||50 %||30 %|
|Exam: Written||50 %||80 %|
Week by Week Schedule
- Holonomic locomotion, non-holonomic locomotion.
- Wheeled and tracked robot configurations, kinematics and dynamics of wheeled robots.
- Kinematics and dynamics of wheeled robots, Control of wheeled locomotion.
- Legged robot configurations
- Gait and motion planning
- Control and stability of legged robots
- Kinematics of legged robots (pose control)
- Midterm exam
- Trajectory formation in humans and robots
- Manipulation and hand control
- Reacting, Vision and grasping
- Hearing, Speech production and recognition, Tactile sensing, proprioception
- Crawling robots (worm-like motion), Sliding robots (snake-like robots)
- Running robots (insects, mammals), Jumping robots (hoppers)
- Final exam