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
