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
