CENG787 ROBOTIC LOCOMOTION: MODELS AND ALGORITHMS
| Course Code: | 5710787 |
| METU Credit (Theoretical-Laboratory hours/week): | 3 (3.00 - 0.00) |
| ECTS Credit: | 8.0 |
| Department: | Computer Engineering |
| Language of Instruction: | English |
| Level of Study: | Graduate |
| Course Coordinator: | Prof.Dr. ULUÇ SARANLI |
| Offered Semester: | Fall and Spring Semesters. |
Course Objectives
During this course, students will learn about
- Basic mathematical tools for modeling mechanical systems, including Newton-Euler and Lagrange methods for obtaining equations of motion
- Models for wheeled locomotion, including kinematic and dynamic versions
- Kinematic models of legged locomotion, position control and kinematic stability
- Zero-Moment Point based methods for legged locomotion
- Dynamic models of legged locomotion, limit cycles, Poincare sections, return maps and stability
- Passive Dynamic Walking
- Spring-Mass models for running
- Alternative modes of locomotion and associated models
Course Content
Basic concepts of locomotion, review of mathematical methods for modeling and analysis, free-body analysis, Lagrangian dynamics, dynamical stability, limit cycles, traditional wheeled and tracked robot morphologies, kinematic legged locomotion, zero-moment-point algorithms, neural control concepts, coordination of limbs and joints, exoskeletons, dynamic legged locomotion, reduced models, passive dynamic walking, spring-mass running models, hybrid zero-dynamics, snake robots, locomotion based on non-holonomic dynamics, aerial and underwater locomotion
Course Learning Outcomes
At the end of this course, students will
- Recall and use Newton-Euler and Lagrange methods for modeling mechanical systems and obtain equations of motion for such systems
- Simulate mathematical models of mechanical systems in a numerical environment and analyze results
- Recall and simulate models of wheeled locomotion systems, analyze and understand the results
- Recall and analyze kinematic models of legged locomotion, including zero-moment point based methods
- Recall and analyze passive dynamic walking models
- Recall and analyze spring-mass running systems
- Construct mathematical models of simple locomotory systems, design and implement software simulations for such systems and understand results from these simulations.