| Language of instruction: |
English |
| Type of course: |
Departmental Elective |
| Course Level: |
Bachelor’s Degree (First Cycle)
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| Mode of Delivery: |
E-Learning
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| Course Coordinator : |
Assoc. Prof. MEHMET BERKE GÜR |
| Course Lecturer(s): |
Dr. Öğr. Üyesi EMEL DEMİRCAN
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| Recommended Optional Program Components: |
None |
| Course Objectives: |
Acquire the fundamentals in robotics and biomechanics for the modeling, simulation, and control of human musculoskeletal systems. Focus given on the definitions, the concepts, and the foundations used in the multi-disciplinary research at the intersection between robotics and biomechanics. Students form reading teams to evaluate classical and recent research articles in robotics and biomechanics and present them to the class. The theory, readings, and student final project presentations aim at engaging students in developing future research questions in robotics. |
| Fundamentals in humanoid robotics and biomechanics for the modeling, simulation, and control of human musculoskeletal systems. Muscle Structure, Hill-Type Muscle Model, Muscle Parameters, Moment and Moment Arm, Joint Moments, Modeling of Musculoskeletal Geometry; Structure of Human Models: Body, Joint, DOF…; Introduction to Robotics, Spatial Description, Direct/Inverse Kinematics, Jacobian, Manipulator Control; Operational Space Control, Redundancy, Task/Posture Decomposition. |
| Week |
Subject |
Related Preparation |
| 1) |
50 Year History of Robotics ; Robotics Areas (i.e., haptics, human motion synthesis, biomimetics, humanoid robotics, underwater robotics, teleoperation, surgical robotics, aerial robotics…); Robots and Human; Why to Study Human Movement? |
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| 2) |
Definition of Terms: Muscle Structure; Hill-Type Muscle Model; Muscle Parameters; Moment and Moment Arm; Joint Moments; Modeling of Musculoskeletal Geometry; Structure of Human Models: Body, Joint, DOF… Assumptions and Limitations; Scaling |
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| 3) |
Haptics, Humanoid Platforms; Guest Lecturer |
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| 4) |
Spatial Description, Direct/Inverse Kinematics, Jacobian, Manipulator Control |
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| 5) |
Video (passive optical) capture - Force Plates (GRFs); Calibration & Challenges (Noise/Filtering); EMG Electromyography; New Developments |
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| 6) |
Robotics Foundations; Redundancy; Operational Space Control; Task/Posture Decomposition |
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| 7) |
Whole-Body Control & Simulation; Balance Control; Contact/Constraints; Simulation Frameworks |
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| 8) |
Midterm Exam |
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| 9) |
Human Motion Control; Marker Placement; Motion Control Hierarchy; From Motion Capture to Motion Dynamics |
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| 10) |
Robotics Methods (Belted Ellipsoids); Human Muscular Effort; Acceleration Characteristics; Addition of Constraints (Contact, Physiological Constraints) |
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| 11) |
Applications in Robotics; Applications in Rehabilitation, in Sports Medicine, and in Orthopeadics; Future Perspectives in Robotics and Biomechanics |
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| 12) |
Student Presentations |
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| 13) |
Student Presentations |
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| 14) |
Student Presentations |
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| Course Notes / Textbooks: |
Robotics-based Synthesis of Human Motion. PhD tezi, Emel Demircan, Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Stanford, USA, August 2012.
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| References: |
Robotics-based Synthesis of Human Motion, PhD thesis Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Stanford, USA,August 2012.
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| |
Program Outcomes |
Level of Contribution |
| 1) |
Adequate knowledge in mathematics, science and computer engineering; the ability to use theoretical and practical knowledge in these areas in complex engineering problems.
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| 2) |
Ability to identify, formulate, and solve complex engineering problems; ability to select and apply appropriate analysis and modeling methods for this purpose.
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| 3) |
Ability to design a complex system, process, device or product to meet specific requirements under realistic constraints and conditions; ability to apply modern design methods for this purpose.
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| 4) |
Ability to develop, select and use modern techniques and tools necessary for the analysis and solution of complex problems encountered in computer engineering applications; ability to use information technologies effectively.
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3 |
| 5) |
Ability to design, conduct experiments, collect data, analyze and interpret results for the study of complex engineering problems or computer engineering research topics.
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3 |
| 6) |
Ability to work effectively within and multi-disciplinary teams; individual study skills.
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| 7) |
Ability to communicate effectively in verbal and written Turkish; knowledge of at least one foreign language; ability to write active reports and understand written reports, to prepare design and production reports, to make effective presentations, to give and receive clear and understandable instructions.
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| 8) |
Awareness of the necessity of lifelong learning; ability to access information, to follow developments in science and technology and to renew continuously.
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| 9) |
To act in accordance with ethical principles, professional and ethical responsibility; information on the standards used in engineering applications.
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| 10) |
Information on business practices such as project management, risk management and change management; awareness of entrepreneurship and innovation; information about sustainable development.
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| 11) |
Knowledge of the effects of engineering practices on health, environment and safety in the universal and social scale and the problems of the era reflected in engineering; awareness of the legal consequences of engineering solutions.
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BAHÇEŞEHİR UNIVERSITY BİLGİ PAKETİ / DERS KATALOĞU
