Bio-inspired Locomotion

Bio-inspired Locomotion

Prerequisites: CMPE9 and graduate standing or instructor’s permission

Description: This course presents the principles of biological locomotion and their application to robotics problems. You will:

  • learn about examples of effective movements in the biological world: slithering (e.g., snake), walking (e.g., gecko)
  • understand how engineering analysis can be used to study biological locomotion and extract the underlying principles.
  • learn about the basic forces involved in locomotion (e.g. friction, adhesion)
  • apply creatively the bio-locomotion principles to engineering design of biomimetic devices (e.g. walking robots).
  Textbooks used in this course: 
  • Vector Mechanics for Engineers: Statics and Dynamics: Ferdinand Beer, Jr., E. Russell Johnston, Elliot Eisenberg, Phillip Cornwell, David Mazurek
  • Biologically Inspired Approaches for Locomotion, Anomaly Detection and Reconfiguration for Walking Robots: Bojan Jakimovski 
  • Autonomous robots: from biological inspiration to implementation and control: George A. Bekey
A number of articles or web resources will be given as handouts or linked from the class' web site. Some of these articles will constitute mandatory reading, while others will be selected by each student according to his or her background and interest.   

Instructors and Assistants