| Course Unit Code | 354-0640/01 |
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| Number of ECTS Credits Allocated | 4 ECTS credits |
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| Type of Course Unit * | Compulsory |
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| Level of Course Unit * | Second Cycle |
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| Year of Study * | Second Year |
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| Semester when the Course Unit is delivered | Winter Semester |
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| Mode of Delivery | Face-to-face |
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| Language of Instruction | Czech |
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| Prerequisites and Co-Requisites | |
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| Prerequisities | Course Unit Code | Course Unit Title |
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| 354-0626 | Locomotion Subsystems for Service Robots 1 |
| Name of Lecturer(s) | Personal ID | Name |
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| BOB0001 | prof. Ing. Zdenko Bobovský, PhD. |
| SZA0041 | Ing. Mikuláš Szabari, Ph.D. |
| Summary |
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| In this course, students will learn about walking, climbing, crawling bogies, swimming and flying locomotion subsystems of service robots. They will learn how to design and oversize the bogies for the required service scenario. They will also be acquainted with various ways of controlling the locomotive service robots subsystem. |
| Learning Outcomes of the Course Unit |
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| In this course, students will learn about walking, climbing, crawling, swimming and flying locomotion subsystems of service robots. They will learn how to design and oversize the locomotion subsystem for the required service scenario. |
| Course Contents |
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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 |
| Recommended or Required Reading |
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| Required Reading: |
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[1] Jakimovski B.. Biologically Inspired Approaches for Locomotion, Anomaly Detection and Reconfiguration for Walking Robots, Springer-Verlag Berlin Heidelber, 2011, ISBN 9783642225055
[2] Zufferey J.-Ch., Bio-inspired Flying Robots Experimental Synthesis of Autonomous Indoor Flyers, EFPL Press, 2008, ISBN 9780429131226 |
[1] SMRČEK, Juraj, Ladislav KÁRNÍK a Zdenko BOBOVSKÝ.Robotika: servisné roboty na pásovom podvozku[CD-ROM]. Časť I, Navhovanie, konštrukcia. Ostrava: VŠB - Technická univerzita Ostrava, 2011. ISBN 978-80-248-2500-7.
[2] SMRČEK, Juraj, Ladislav KÁRNÍK a Zdenko BOBOVSKÝ.Robotika: servisné roboty na pásovom podvozku[CD-ROM]. Časť II, Konštrukcia, rešenia. Ostrava: VŠB - Technická univerzita Ostrava, 2011. ISBN 978-80-248-2499-4.
[3] Juraj Smrček ... [et al.].Robotika:metodika nasadzovania servisných robotov, 1. vyd. Košice : TU, 2013. - Biograf. údaje. - 203 s. : (Edícia vedeckej a odbornej literatúry). - ISBN 978-80-553-1523-2 (brož.) :
[4] Juraj Smrček, Ladislav Kárník.Robotika:servisné roboty : navrhovanie, konštrukcia, riešenia. - 1. vyd. Košice : Michal Vaško, 2008. - 531 s. : (Edícia vedeckej a odbornej literatúry). - ISBN 978-80-7165-713-2 (viaz.) :
[5] Jakimovski B.. Biologically Inspired Approaches for Locomotion, Anomaly Detection and Reconfiguration for Walking Robots, Springer-Verlag Berlin Heidelber, 2011, ISBN 9783642225055
[6] Zufferey J.-Ch., Bio-inspired Flying Robots Experimental Synthesis of Autonomous Indoor Flyers, EFPL Press, 2008, ISBN 9780429131226 |
| Recommended Reading: |
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[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, ISBN 978-981-270-815-1
[2] Habib, Bioinspiration and Robotics - Walking and Climbing Robots, Itech, 2007, ISBN: 978-3-902613-15-8
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[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, ISBN 978-981-270-815-1
[2] Habib, Bioinspiration and Robotics - Walking and Climbing Robots, Itech, 2007, ISBN: 978-3-902613-15-8
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| Planned learning activities and teaching methods |
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| Lectures, Tutorials, Project work |
| Assesment methods and criteria |
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| Task Title | Task Type | Maximum Number of Points
(Act. for Subtasks) | Minimum Number of Points for Task Passing |
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| Credit and Examination | Credit and Examination | 100 (100) | 51 |
| Credit | Credit | 35 | 15 |
| Examination | Examination | 65 | 36 |