MICRO-507 / 4 crédits

Enseignant: Ijspeert Auke

Langue: Anglais


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 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 (20%), report for the numerical exercises (50%), written exam (30%). Work for the presentations and the numerical exercises will be done by groups of 3 students. The written exam is taken individually.

Supervision

Office hours No
Assistants Yes
Forum Yes

Resources

Bibliography

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

Dans les plans d'études

  • Semestre: Automne
  • Forme de l'examen: Pendant le semestre (session d'hiver)
  • Matière examinée: Legged robots
  • Cours: 2 Heure(s) hebdo x 14 semaines
  • Exercices: 2 Heure(s) hebdo x 14 semaines
  • Semestre: Automne
  • Forme de l'examen: Pendant le semestre (session d'hiver)
  • Matière examinée: Legged robots
  • Cours: 2 Heure(s) hebdo x 14 semaines
  • Exercices: 2 Heure(s) hebdo x 14 semaines
  • Semestre: Automne
  • Forme de l'examen: Pendant le semestre (session d'hiver)
  • Matière examinée: Legged robots
  • Cours: 2 Heure(s) hebdo x 14 semaines
  • Exercices: 2 Heure(s) hebdo x 14 semaines
  • Semestre: Automne
  • Forme de l'examen: Pendant le semestre (session d'hiver)
  • Matière examinée: Legged robots
  • Cours: 2 Heure(s) hebdo x 14 semaines
  • Exercices: 2 Heure(s) hebdo x 14 semaines

Semaine de référence

 LuMaMeJeVe
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     

Mardi, 10h - 12h: Cours INM202

Mardi, 12h - 14h: Exercice, TP INM202