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Biologically Inspired Robotics Laboratory

Department of Engineering

Introduction to Bio-Inspired Motor Control 2012

151-0653-00L

There are still a number of challenges in the motor control of robotic systems in terms of energy efficiency, agility, and versatility, if compared to biological systems. In this lecture, we learn the fundamentals of interdisciplinary research area of bio-inspired robotics, with a special focus on the issues of motor control.

The main goal of this course is to provide students the fundamentals of biological and engineering tools to systematically explore the interdisciplinary field of bio-inspired motor control. Students will learn how to observe nature, how to abstract underlying principles, and how to develop artificial systems based on bio-inspirations. Toward the end of semester, the students will apply the acquired techniques to an individual small research project.

General Lecture Information

Lecturers: Prof. Fumiya Iida
Prof. Jonas Buchli
Dr. Hugo Gravato Marques
Teaching Assistants:
Luzius Brodbeck
Derek Leach
Liyu Wang
Amir Jafari
Surya G. Nurzaman
Xiaoxiang Yu
Courses:
Tuesday, 08:15 - 11:00; HG E22

For general questions, contact Luzius. For questions concerning the content of a lecture conctact the assistant(s) listed for the specific lecture.

Lecture Details

More information about the course as well as the lecture materials will be published later at this place. This program is tentative and might still be updated.

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Date

Topic

Lecturer

Assistants

Notes

Exercises

Videos*

1
18.09. Introduction/Bio-inspired motor control Iida
Slides 1
Video 1
2
25.09. Underactuated robotics/ conceptual models
Iida Derek, Luzius
Slides 2
Problem Set 1, spring_mass_running_template.m, rimless_wheel_mwe.m compass_gait_mwe.m rimless_wheel.m Video 2
3
02.10.
Scalability/ energy efficiency
Iida Xiaoxiang
Slides 3
Video 3
4
09.10.
Modeling biological systems
Marques Derek
Slides 4
Problem Set 2, bimc2012PS2.zip

Note: There is a contradiction in 1a. Activate A1 as stated in the exercise.

Note 2: For the Matsuoka model in task 3, variables are specified according to this model and equations.

Video 4
5
16.10.
Locomotion control/ legged robots
Iida Derek
Slides 5
Video 5
6
23.10.
Building bio-inspired robots Iida Xiaoxiang
Slides 6 Problem Set 3

Introductory Slides

Introduction by Xiaoxiang Yu

Videos and Pictures of robots

Video 6
7
30.10. Control models
Buchli
Slides 7

Video 7
8
06.11.
Learning/ optimization
Buchli
Slides 8
Video 8
9
13.11.
Self-organization/ morphology
Iida
Derek
Slides 9
Project Discussion
Video 9
10
20.11.
Bio-inspired actuators
Jafari
Liyu, Surya
Slides 10
Project
Video 10
11
27.11.
Soft robotics
Iida Liyu, Surya
Slides 11
Project
Video 11
12
04.12.
Project day (No lecture)
Project
13
11.12.
Project presentation
14
18.12.
Examination

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