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: Assoc.Prof.Dr. ULU 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