Robert Katzschmann: Katalogdaten im Frühjahrssemester 2021 |
Name | Herr Prof. Dr. Robert Katzschmann |
Namensvarianten | Robert K. Katzschmann R. Katzschmann Robert K Katzschmann Robert Katzschmann Robert Kevin Katzschmann |
Lehrgebiet | Robotik |
Adresse | Professur für Robotik ETH Zürich, CLA F 1.2 Tannenstrasse 3 8092 Zürich SWITZERLAND |
Telefon | +41 44 632 22 40 |
rkk@ethz.ch | |
URL | http://srl.ethz.ch |
Departement | Maschinenbau und Verfahrenstechnik |
Beziehung | Assistenzprofessor (Tenure Track) |
Nummer | Titel | ECTS | Umfang | Dozierende | |
---|---|---|---|---|---|
151-0636-00L | Soft and Biohybrid Robotics | 4 KP | 3G | R. Katzschmann | |
Kurzbeschreibung | Soft robotics takes inspiration from nature and produces systems that are inherently safer to interact with. The class teaches processes involved in creating the structures, actuators, sensors, mechanical models, controllers, and machine learning models exploiting the deformable structure of soft robots in challenging tasks. (Class fully online via Zoom) | ||||
Lernziel | Learn about the processes involved in creating soft and biohybrid robotic structures, actuator, sensors, mechanical models, closed-loop controllers, and machine learning approaches. Understand how to exploit the structural impedance and the dynamics of soft and biohybrid robots in locomotion and object manipulation tasks. Demonstrated learned capabilities in either a simulation or a physical prototype built at home. | ||||
Inhalt | Students will gain experience on a range of soft technologies and a model-based approaches to design and simulation of soft continuum robots. 0) Semester-long take-home project requiring students to implement the skills and knowledge learned during the class by building their own soft robotic prototype or simulation 1) Functional and intelligent materials for use in soft and biohybrid robotic applications 2) Design and design morphologies of soft robotic actuators and sensors 3) Fabrication techniques including 3D printing, casting, roll-to-roll, tissue engineering 4) Mechanical modeling including minimal parameter models, finite-element models and ML-based models 5) Closed-loop controllers of soft robots that exploit the robot's impedance and dynamics for locomotion and manipulation tasks 6) Deep Learning approaches to soft robotics, for design synthesis, modeling, and control (Class offered only online via Zoom, see Moodle for details) | ||||
Skript | All class materials including slides, recordings, class challenges infos, pre-reads, and tutorial summaries can be found on Moodle: https://moodle-app2.let.ethz.ch/course/view.php?id=14501 | ||||
Literatur | 1) Wang, Liyu, Surya G. Nurzaman, and Fumiya Iida. "Soft-material robotics." (2017). 2) Polygerinos, Panagiotis, et al. "Soft robotics: Review of fluid‐driven intrinsically soft devices; manufacturing, sensing, control, and applications in human‐robot interaction." Advanced Engineering Materials 19.12 (2017): 1700016. 3) Verl, Alexander, et al. Soft Robotics. Berlin, Germany:: Springer, 2015. 4) Cianchetti, Matteo, et al. "Biomedical applications of soft robotics." Nature Reviews Materials 3.6 (2018): 143-153. 5) Ricotti, Leonardo, et al. "Biohybrid actuators for robotics: A review of devices actuated by living cells." Science Robotics 2.12 (2017). 6) Sun, Lingyu, et al. "Biohybrid robotics with living cell actuation." Chemical Society Reviews 49.12 (2020): 4043-4069. | ||||
Voraussetzungen / Besonderes | (Robot) dynamics, control systems, introduction to robotics, materials for engineers. Only for students at master or PhD level. Class size limitation is at 40 students. | ||||
327-2225-00L | MaP Distinguished Lecture Series on Soft Robotics This course is primarily designed for MSc and doctoral students. Guests are welcome. | 1 KP | 2S | R. Katzschmann, L. Schefer | |
Kurzbeschreibung | This course is an interdisciplinary colloquium on Soft Robotics involving different internationally renowned speakers from academia and industry giving lectures about their cutting-edge research, which highlights the state-of-the-art and frontiers in the Soft Robotics field. | ||||
Lernziel | Participants become acquainted with the state-of-the-art and frontiers in Soft Robotics, which is a topic of global and future relevance from the field of materials and process engineering. The self-study of relevant literature and active participation in discussions following presentations by internationally renowned speakers stimulate critical thinking and allow participants to deliberately discuss challenges and opportunities with leading academics and industrial experts and to exchange ideas within an interdisciplinary community. | ||||
Inhalt | This course is a colloquium involving a selected mix of internationally renowned speaker from academia and industry who present their cutting-edge research in the field of Soft Robotics. The self-study of relevant pre-read literature provided in advance to each lecture serves as a basis for active participation in the critical discussions following each presentation. | ||||
Skript | Selected scientific pre-read literature (max. three articles per lecture) relevant for and discussed during the lectures is posted in advance on the course web page. | ||||
Voraussetzungen / Besonderes | Participants should have a solid background in materials science and/or engineering. |