Coursebooks

Legged robots

MICRO-507

Lecturer(s) :

Ijspeert Auke

Language:

English

Summary

The course presents the design, control, and applications of legged robots. It gives a review of different types of legged robots (including two-, four- and multi-legged robots), and an in-depth analysis of different control methods for legged locomotion.

Content

The course presents the design, control, and applications of legged robots. It gives a review of different types of legged robots (including two-, four- and multi-legged robots), and an in-depth analysis of different control methods for legged locomotion. It also trains students in making critical analysis of key articles in the field, and in designing their own locomotion controllers for legged robots in a physics-based simulation.

CONTENT

Keywords

Legged robots, control of locomotion

Learning Prerequisites

Required courses

Learning Outcomes

By the end of the course, the student must be able to:

Transversal skills

Teaching methods

Lectures, reading articles, presentations, and numerical exercises

Expected student activities

Assessment methods

Presentation of scientific articles (50%), report for the numerical exercises (50%).

Supervision

Office hours No
Assistants Yes
Forum Yes

Resources

Bibliography

In the programs

  • Microengineering, 2019-2020, Master semester 1
    • Semester
      Fall
    • Exam form
      During the semester
    • Credits
      4
    • Subject examined
      Legged robots
    • Lecture
      2 Hour(s) per week x 14 weeks
    • Exercises
      2 Hour(s) per week x 14 weeks
  • Microengineering, 2019-2020, Master semester 3
    • Semester
      Fall
    • Exam form
      During the semester
    • Credits
      4
    • Subject examined
      Legged robots
    • Lecture
      2 Hour(s) per week x 14 weeks
    • Exercises
      2 Hour(s) per week x 14 weeks
  • Robotics, 2019-2020, Master semester 1
    • Semester
      Fall
    • Exam form
      During the semester
    • Credits
      4
    • Subject examined
      Legged robots
    • Lecture
      2 Hour(s) per week x 14 weeks
    • Exercises
      2 Hour(s) per week x 14 weeks
  • Robotics, 2019-2020, Master semester 3
    • Semester
      Fall
    • Exam form
      During the semester
    • Credits
      4
    • Subject examined
      Legged robots
    • Lecture
      2 Hour(s) per week x 14 weeks
    • Exercises
      2 Hour(s) per week x 14 weeks

Reference week

MoTuWeThFr
8-9
9-10
10-11 INM202
11-12
12-13 INM202
13-14
14-15
15-16
16-17
17-18
18-19
19-20
20-21
21-22
Lecture
Exercise, TP
Project, other

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  • Autumn semester
  • Winter sessions
  • Spring semester
  • Summer sessions
  • Lecture in French
  • Lecture in English
  • Lecture in German