Id: 041463
Credits Min: 3
Credits Max: 3
Description
Introduction to the modeling, analysis, planning, and control of legged robotic locomotion systems. Topics covered include: basic components of robotic systems, selection of coordinate frames, homogeneous transformations, solutions to kinematic equations, velocity and force/torque relations, legged Locomotion dynamics in Lagrange's formulation and Newton-Euler formulation, digital simulation of kinematic and dynamic models, kinematics of legged robots, zero-moment-point (ZMP) stability, hybrid-zero-dynamics (HZD) methods, and motion planning and locomotion control.
Prerequisites
MATH.2360 Differential Equations, and Co-req: MECH.4510 Dynamic Systems Analysis.
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