Biorobotics
Course content and structure
Entry requirements
Knowledge in the subject of Automatic Control, specifically regarding modeling, dynamics, state-space analysis and system control design. Basic knowledge in programming, particularly with MATLAB and Simulink. These prerequisites correspond to the courses Automatic Control (R7003E) and Introduction to Programming (D0009E) or Programming and electronics for cybernetics (D0031E). Mechanical assembly skills is an advantage. Good knowledge in English equivalent to English 6. More information about the English language requirements [http://www.ltu.se/edu/bli-student/Application-process/English-language-requirements-1.109316?l=en]
Selection
The selection is based on 30-285 credits
Course Aim
By the end of the course, the student should be able to:
Identify the different levels of bioinspiration in robotics
Recognize the fundamental principles of walking, flying and swimming robots
Model and analyse multi-joint systems from a forward and inverse kinematic perspective
Demonstrate the ability to, in a group, implement and evaluate motion of bioinspired robotic systems
Contents
This course provides an overview of the area of biorobotics, from a modeling, control, and application perspective. From walking, flying and swimming robots inspired by biology and nature, to humanoid robots and medical robotics for assistance, this course will provide an overview on the various motion and locomotion classifications, while analyzing bioinspired methods for motion control of multi-joint robot mechanisms. '
• Introduction to bio-inspired robotics (walking, climbing, flying robots, bionics, medical robotics etc.).
• Motion analysis and homogeneous transformations.
• Forward and inverse kinematic analysis of multi-joint robots.
• Manipulator Jacobian and velocity kinematics.
• Motion control of bio-inspired robots.
To confirm the theoretical knowledge obtained during the course, project work is performed on simulated or experimental setups.