skip to primary navigation skip to content

Biologically Inspired Robotics Laboratory

Department of Engineering

Introduction to Bio-Inspired Robotics 2013

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
Dr. Hugo Gravato Marques
Teaching Assistants:
Utku Culha
Xiaoxiang Yu
Hung Vu
Courses:
Tuesday, 08:15 - 11:00; HG D5.2
Exam: 17.12.2013, Tuesday, 08:15 - 09:15, HG D5.2

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

Lecture Details

Each lecture will be recorded and published online. A complete list of recordings can be accessed from this link with a nETHZ account. Direct links will be provided for each lecture on the corresponding row on the following table.

Some mandatory/suggested reading materials will be distributed from this course ftp server, whose login details will be provided during the lectures.

This program is tentative and might still be updated.

#

Date

Topic

Lecturer

Assistants

Notes

Exercises

Videos

1
17.09. Introduction / Bio-inspired motor control F. Iida
Utku
Slides 1
Reading material
Lecture 1
2
24.09. Underactuated robotics / Conceptual models
F. Iida
Utku
Slides 2
Reading material

Problem Set 1

Solution

Lecture 2
3
01.10.
Energy shaping / Energy efficiency
F. Iida
Utku
Slides 3
Reading material Lecture 3
4
08.10.
Locomotion control
F. Iida
Utku
Slides 4
Reading material
Problem Set 2

Solution

Lecture 4
5
15.10.
Soft robotics
F. Iida
Utku
Slides 5
Reading material
Lecture 5
6
22.10.
Tutorial: Building bio-inspired robots Xiaoxiang, Utku
Xiaoxiang, Utku Slides 6
Problem Set 3
Lecture 6

Robots

7
29.10. Actuators / Control
F. Iida
Utku
Slides 7
Reading material
Lecture 7
8
05.11.
Modelling biological systems
H. Marques
Utku
Slides 8

(complete slides)

Reading material
Lecture 8
9
12.11.
Biological learning and control
H. Marques
Utku
Slides 9

(complete slides)

Reading material
Lecture 9
10
19.11.
Bio-Inspired navigation
F. Iida
Utku
Slides 10
Reading material
Lecture 10
11
26.11.
Self organization / Morphology
F. Iida
Utku
Slides 11
Reading material
Lecture 11
12
03.12.
Project day (No lecture)
13
10.12.
Project presentation
Presentations
14
17.12.
Examination