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Locomotion Subsystems for Service Robots 1

Type of study Follow-up Master
Language of instruction English
Code 354-0626/02
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
2. Functional subgroups, Control
3. Mechanics of wheel movement, Basic calculations of wheel chassis I
4. Basic calculations of wheel chassis II,
5. Statically stable wheel systems - motion mechanics and basic calculations, examples of solutions, control
6. Statically unstable wheel systems - mechanics of motion and basic calculations, examples of solutions, control
7. Crawler chassis
8. Functional subgroups, crawler control, motion mechanics I.
9. Mechanics of crawler movement I.
10. Mechanics of crawler movement II.
11. Mechanics of crawler movement III.
12. Two and three track crawlers
13. Four or more track crawlers

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 defense of 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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