Locomotion Subsystem for Service Robots 2

Type of study	Follow-up Master
Language of instruction	English
Code	354-0640/02
Abbreviation	LSpSR2
Course title	Locomotion Subsystem for Service Robots 2
Credits	4
Coordinating department	Department of Robotics
Course coordinator	prof. Ing. Zdenko Bobovský, PhD.

Subject syllabus

1. Walking systems
2. Concept of a service robot on a walking chassis
3. KP kinematics
4. Dynamics of KP
5. Management of KP, CPG
6. Statically stable systems
7. Statically unstable systems
8. Movement in terrain, overcoming obstacles and navigation
9. Hardware of walking systems
10. Crawler chassis
11. Flying landing gear
12. Floating chassis
13. Deployment methodology

E-learning

Use of university system LMS Moodle

Literature

[1] Jakimovski B.. Biologically Inspired Approaches for Locomotion, Anomaly Detection and Reconfiguration for Walking Robots, Springer-Verlag Berlin Heidelber, 2011,
[2] Zufferey J.-Ch., Bio-inspired Flying Robots Experimental Synthesis of Autonomous Indoor Flyers, EFPL Press, 2008,

Advised literature

[1] Xie M., Dubowsky S., Fontaine J.-G., Tokhi M. O. Virk G. S.. Advances in climbing and walking robots, World Scientific Publishing Company, 2007,
[2] Habib, Bioinspiration and Robotics - Walking and Climbing Robots, Itech, 2007,

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