151-0851-00L  Robot Dynamics

SemesterAutumn Semester 2016
LecturersM. Hutter, R. Siegwart, T. Stastny
Periodicityyearly recurring course
Language of instructionEnglish



Catalogue data

AbstractWe will provide an overview on how to kinematically and dynamically model typical robotic systems such as robot arms, legged robots, rotary wing systems, or fixed wing.
ObjectiveThe primary objective of this course is that the student deepens an applied understanding of how to model the most common robotic systems. The student receives a solid background in kinematics, dynamics, and rotations of multi-body systems. On the basis of state of the art applications, he/she will learn all necessary tools to work in the field of design or control of robotic systems.
ContentThe course consists of three parts: First, we will refresh and deepen the student's knowledge in kinematics, dynamics, and rotations of multi-body systems. In this context, the learning material will build upon the courses for mechanics and dynamics available at ETH, with the particular focus on their application to robotic systems. The goal is to foster the conceptual understanding of similarities and differences among the various types of robots. In the second part, we will apply the learned material to classical robotic arms as well as legged systems and discuss kinematic constraints and interaction forces. In the third part, focus is put on modeling fixed wing aircraft, along with related design and control concepts. In this context, we also touch aerodynamics and flight mechanics to an extent typically required in robotics. The last part finally covers different helicopter types, with a focus on quadrotors and the coaxial configuration which we see today in many UAV applications. Case studies on all main topics provide the link to real applications and to the state of the art in robotics.
Prerequisites / NoticeThe contents of the following ETH Bachelor lectures or equivalent are assumed to be known: Mechanics and Dynamics, Control, Basics in Fluid Dynamics.

Performance assessment

Performance assessment information (valid until the course unit is held again)
Performance assessment as a semester course
ECTS credits4 credits
ExaminersM. Hutter, R. Siegwart, T. Stastny
Typesession examination
Language of examinationEnglish
RepetitionThe performance assessment is only offered in the session after the course unit. Repetition only possible after re-enrolling.
Mode of examinationwritten 120 minutes
Written aids4 A4-pages personal summary
This information can be updated until the beginning of the semester; information on the examination timetable is binding.

Learning materials

 
Main linkLecture Slides
Only public learning materials are listed.

Courses

NumberTitleHoursLecturers
151-0851-00 VRobot Dynamics Special students and auditors need a special permission from the lecturers.2 hrs
Tue10-12CAB G 11 »
M. Hutter, R. Siegwart, T. Stastny
151-0851-00 URobot Dynamics Special students and auditors need a special permission from the lecturers.1 hrs
Wed08-10HG E 1.2 »
M. Hutter, R. Siegwart, T. Stastny

Groups

No information on groups available.

Restrictions

General : Special students and auditors need a special permission from the lecturers

Offered in

ProgrammeSectionType
Mechanical Engineering MasterEnergy, Flows and ProcessesWInformation
Mechanical Engineering MasterRobotics, Systems and ControlWInformation
Computational Science and Engineering BachelorRoboticsWInformation
Computational Science and Engineering MasterRoboticsWInformation
Robotics, Systems and Control MasterCore CoursesWInformation