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COURSE SYLLABUS

Biorobotics 7.5 credits

Biorobotik
Second cycle, R7017E
Version
Course syllabus valid: Spring 2022 Sp 3 - Present
The version indicates the term and period for which this course syllabus is valid. The most recent version of the course syllabus is shown first.


Education level
Second cycle
Grade scale
G U 3 4 5
Subject
Control Engineering
Subject group (SCB)
Automation Technology
Main field of study
Engineering Physics and Electrical Engineering

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]


More information about English language requirements


Selection

The selection is based on 20-285 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. 











Realization
Each course occasion´s language and form is stated and appear on the course page on Luleå University of Technology's website.

The course will be realized via lectures, tutorials, and project work. The acquired knowledge will be directly applied through simulation or experimental studies on bio-inspired robotic systems. Project tasks will be performed in groups of two students and accounted for with a final written report, accompanied by a demonstration/presentation as stated in the examination.

Examination
If there is a decision on special educational support, in accordance with the Guideline Student's rights and obligations at Luleå University of Technology, an adapted or alternative form of examination can be provided.

The students’ progress will be assessed via an examination at the end of the course, which will involve a verbal presentation of the work in its entirety, accompanied by a real-time demonstration of the acquired results. Finally, the students will compile and submit all work performed during the course, including codes, acquired data, data analysis, evaluation results, etc., in the form of multimedia files and a written report.







Examiner
Georgios Andrikopoulos

Literature. Valid from Spring 2022 Sp 3 (May change until 10 weeks before course start)
Literature will involve chapters from the following books:
Title: Robotics, Vision and Control
Author: P. Corke
Publisher: Springer, 2011

Title: Biomimetic Robotics: Mechanisms and Control
Author: R. Vepa
Publisher: Cambridge University Press, 2009

As well as collection of scientific articles and online tutorials specialized on modeling, analysis, and motion control of bio-inspired robots.

Course offered by
Department of Computer Science, Electrical and Space Engineering

Modules
CodeDescriptionGrade scaleHPStatusFrom periodTitle
0001ProjectG U 3 4 57.50MandatoryS21

Syllabus established
by Jonny Johansson, HUL SRT 21 Feb 2020

Last revised
by Jonny Johansson, HUL SRT 16 Feb 2021