MICRO-507 / 4 credits

Teacher: 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

Keywords

Legged robots, control of locomotion

Learning Prerequisites

Required courses

  • Mobile Robots (Micro-454)
  • Model Predictive Control (ME-425)

Learning Outcomes

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

  • Identify a suitable type of legged robot for a given application
  • Argue about the validity of existing controllers from the literature
  • Design their own controllers
  • Test the controllers in simulation
  • Assess / Evaluate the controllers’ performance and limits

Transversal skills

  • Plan and carry out activities in a way which makes optimal use of available time and other resources.
  • Access and evaluate appropriate sources of information.

Teaching methods

Lectures, reading articles, presentations, and numerical exercises

Expected student activities

  • Attending weekly lectures
  • Read and present scientific articles
  • Develop locomotion controllers for simulated legged robots
  • Present and analyse results in a report or a presentation

Assessment methods

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

Supervision

Office hours No
Assistants Yes
Forum Yes

Resources

Bibliography

  • Articles selected from the recent literature and presented / analysed in the class

In the programs

  • Semester: Fall
  • Exam form: Written (winter session)
  • Subject examined: Legged robots
  • Lecture: 2 Hour(s) per week x 14 weeks
  • Exercises: 2 Hour(s) per week x 14 weeks
  • Semester: Fall
  • Exam form: Written (winter session)
  • Subject examined: Legged robots
  • Lecture: 2 Hour(s) per week x 14 weeks
  • Exercises: 2 Hour(s) per week x 14 weeks
  • Semester: Fall
  • Exam form: Written (winter session)
  • Subject examined: Legged robots
  • Lecture: 2 Hour(s) per week x 14 weeks
  • Exercises: 2 Hour(s) per week x 14 weeks
  • Semester: Fall
  • Exam form: Written (winter session)
  • 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     
11-12     
12-13     
13-14     
14-15     
15-16     
16-17     
17-18     
18-19     
19-20     
20-21     
21-22