MECH.5305 Introduction to Legged Locomotion
Id: 041463
Credits: 3-3
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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Course prerequisites/corequisites are determined by the faculty and approved by the curriculum committees. Students are required to fulfill these requirements prior to enrollment. For courses offered through online or GPS delivery, students are responsible for confirming with the instructor or department that all enrollment requirements have been satisfied before registering.