Academic Catalog

CENG787 ROBOTIC LOCOMOTION: MODELS AND ALGORITHMS

Course Code: 5710787
METU Credit (Theoretical-Laboratory hours/week): 3(3-0)
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 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