Robotic Locomotion: Models and Algorithms

Course content

Basic concepts of locomotion, review of mathematical methods for modeling and analysis, free-body analysis, Lagrangian dynamics, dynamical stability, limit cycles, traditional wheeled and tracked robot morphologies, kinematic legged locomotion, zero-moment-point algorithms, neural control concepts, coordination of limbs and joints, exoskeletons, dynamic legged locomotion, reduced models, passive dynamic walking, spring-mass running models, hybrid zero-dynamics, snake robots, locomotion based on non-holonomic dynamics, aerial and underwater locomotion