研究生教学网
课程代码 Course Code | ME7162 | *学时 Teaching Hours | 48 | *学分 Credits | 3 | |||||
*课程名称 Course Name | （中文）步行机器人机构学 | |||||||||
（English）Walking Robotic Mechanisms | ||||||||||
*授课语言 Instruction Language | 中文 (Chinese) | |||||||||
*开课院系 School | 机械与动力工程学院School of Mechanical Engineering | |||||||||
先修课程 Prerequisite | 高等数学Advanced Mathematics、线性代数Linear Algebra、机械原理Mechanical Design、机构设计Mechanism Design | |||||||||
授课教师 Instructors | 姓名Name | 职称Title | 单位Department | 联系方式E-mail | ||||||
齐臣坤 Chenkun Qi | 副教授 Associate Professor | 机械与动力工程学院 School of Mechanical Engineering | chenkqi@sjtu.edu.cn | |||||||
*课程简介（中文）Course Description |
步行机器人机构学是面向机械设计及理论、机械制造及自动化、机械电子工程、控制科学与工程等专业的一门研究生专业选修课程。该课程主要讲授步行机器人机构设计的理论、工具与方法，包括步行机器人综述和关键技术、机器人机构设计基础、步行机器人建模与仿真、步行机器人机构仿生设计、步行机器人机构优化设计等关键机构设计技术，另外还涉及步态规划、运动控制等内容。课程理论与实践紧密结合，课程项目是学生分组完成步行机器人机构设计，实现动态仿真。
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*课程简介（English）Course Description |
“Walking Robotic Mechanisms” is a graduate student course that challenges students to design walking robotic mechanism. The course covers modern theories, tools and methods for walking robotic mechanism design. Topics include review and key techniques of walking robots, fundamentals of robotic mechanisms design, walking robot modeling & simulation, bio-inspired design, optimal design, gait planning, and motion control. The team project is to design a legged robot in the software, including the mechanism design and walking simulation.
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*教学安排 Schedules | 教学内容Content | 授课学时 Hours | 教学方式 Format | |||||||
绪论 Introduction | 3 | 课堂教学 Lectures | ||||||||
步行机器人研究综述 Review of walking robots | 3 | 课堂教学 Lectures | ||||||||
步行机器人机构介绍 Introduction of walking robotic mechanisms | 6 | 课堂教学 Lectures | ||||||||
机器人机构设计基础 Fundamentals of robotic mechanisms design | 6 | 课堂教学 Lectures | ||||||||
步行机器人动力学建模 Dynamicsmodeling of walking robot | 3 | 课堂教学 Lectures | ||||||||
步行机器人仿真 Simulation of walking robot | 3 | 课堂教学 Lectures | ||||||||
步行机器人机构仿生设计 Bio-inspired mechanism design of walking robot | 3 | 课堂教学 Lectures | ||||||||
步行机器人机构优化设计 Optimal mechanism design of walking robot | 3 | 课堂教学 Lectures | ||||||||
步行机器人步态规划 Gait planning of walking robot | 6 | 课堂教学 Lectures | ||||||||
步行机器人运动控制 Motion control of walking robot | 6 | 课堂教学 Lectures | ||||||||
作业报告 Presentation of assignments | 6 | 报告和讨论Presentation &Discussion | ||||||||
*考核方式Grading Policy |
1 课堂出席Class attendance 10% 2 研究综述Literature survey 30% 3课程作业Team assignments 50% 4 同学评估Team evaluation 10%
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*教材或参考资料Textbooks &References |
教材：自编讲义 参考书： 1. Marc H Raibert. (1986). Legged robots that balance. Cambridge, Mass.: MIT Press. 2. Khalil, W., Dombre, E. (2002). Modeling, identification and control of robots. London: HPS. 3. Craig, J. J. (1986). Introduction to Robotics: Mechanics & Control. Reading, Mass.: Addison-Wesley Pub. Co. 4. 高峰. (1987). 高等机构学. 东北重型机械学院印(研究生用教材). 5. 黄真, 赵永生, 赵铁石. (2006). 高等空间机构学. 北京: 高等教育出版社.
Textbook: Lecture notes References: 1. Marc H Raibert. (1986). Legged robots that balance. Cambridge, Mass.: MIT Press. 2. Khalil, W., Dombre, E. (2002). Modeling, identification and control of robots. London: HPS. 3. Craig, J. J. (1986). Introduction to Robotics: Mechanics & Control. Reading, Mass.: Addison-Wesley Pub. Co. 4. Feng Gao. (1987). Advanced Mechanisms. (Textbook for graduated student of Yanshan University). 5. Zhen Huang, Yongsheng Zhao, Tiejun Zhao (2006). Advanced Spatial Mechanisms. Beijing: Higher Education Press.
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