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Locomotion Subsystems for Service Robots 1

Type of study Follow-up Master
Language of instruction Czech
Code 354-0626/01
Abbreviation LSpSR1
Course title Locomotion Subsystems for Service Robots 1
Credits 4
Coordinating department Department of Robotics
Course coordinator prof. Ing. Zdenko Bobovský, PhD.

Subject syllabus

Lecture:
1. Wheel chassis, Functional subgroups,
2. Mechanics of Wheel chassis movement 1,
3. Mechanics of Wheel chassis movement 2,
4. Mechanics of Wheel chassis movement 3,
5. Control of wheeled chassis 1,
6. Control of wheeled chassis 2,
7. Statically stable and unstable wheel systems - examples of solutions,
8. Tracked chassis, Functional subgroups,
9. Mechanics of movement of the tracked chassis 1,
10. Mechanics of movement of the tracked chassis 2,
11. Mechanics of movement of the tracked chassis 3,
12. Control of tracked chassis,
13. Tracked chassis - examples of solutions

Exercises:
1. Project assignment
2. Application of service scenario methodology
3. Determination of functional and organ structure
4. Design of wheel chassis kinematics and selection of HW components
5. Elaboration of rough building structure I.
6. Elaboration of rough building structure II.
7. Preliminary calculation
8. Model transfer to the simulation environment
9. Simulation in the testing environment
10. Simulation in the testing environment
11. Design of mechanical structure
12. Control calculations
13. Submission and defenseof the project

E-learning

Use of university system LMS Moodle

Literature

[1] TAKAHASHI, Yoshihiko.Service robot applications. Croatia : In-Teh, 2008., ISBN 978-953-7619-00-8 
[2] Jakimovski B.. Biologically Inspired Approaches for Locomotion, Anomaly Detection and Reconfiguration for Walking Robots, Springer-Verlag Berlin Heidelber, 2011, ISBN 9783642225055 
[3] Zufferey J.-Ch., Bio-inspired Flying Robots Experimental Synthesis of Autonomous Indoor Flyers, EFPL Press, 2008, ISBN 9780429131226 
[4] Jakimovski B.. Biologically Inspired Approaches for Locomotion, Anomaly Detection and Reconfiguration for Walking Robots, Springer-Verlag Berlin Heidelber, 2011, ISBN 9783642225055 

Advised literature

[1] AHN, Ho Seok.Advances in service robotics. Croatia : In-Teh, 2008. ISBN 978-953-7619-02-2 
[2] Xie M., Dubowsky S., Fontaine J.-G., Tokhi M. O. Virk G. S.. Advances in climbing and walking robots, World Scientific Publishing Company, 2007, ISBN 978-981-270-815-1 
[3] Habib, Bioinspiration and Robotics - Walking and Climbing Robots, Itech, 2007, ISBN: 978-3-902613-15-8 


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