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? |
|
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 |
|
3) |
Haptics, Humanoid Platforms; Guest Lecturer |
|
4) |
Spatial Description, Direct/Inverse Kinematics, Jacobian, Manipulator Control |
|
5) |
Video (passive optical) capture - Force Plates (GRFs); Calibration & Challenges (Noise/Filtering); EMG Electromyography; New Developments |
|
6) |
Robotics Foundations; Redundancy; Operational Space Control; Task/Posture Decomposition |
|
7) |
Whole-Body Control & Simulation; Balance Control; Contact/Constraints; Simulation Frameworks |
|
8) |
Midterm Exam |
|
9) |
Human Motion Control; Marker Placement; Motion Control Hierarchy; From Motion Capture to Motion Dynamics |
|
10) |
Robotics Methods (Belted Ellipsoids); Human Muscular Effort; Acceleration Characteristics; Addition of Constraints (Contact, Physiological Constraints) |
|
11) |
Applications in Robotics; Applications in Rehabilitation, in Sports Medicine, and in Orthopeadics; Future Perspectives in Robotics and Biomechanics |
|
12) |
Student Presentations |
|
13) |
Student Presentations |
|
14) |
Student Presentations |
|
Course Notes: |
Robotics-based Synthesis of Human Motion. PhD tezi, Emel Demircan, Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Stanford, USA, August 2012.
|
References: |
Robotics-based Synthesis of Human Motion, PhD thesis Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Stanford, USA,August 2012.
|
|
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.
|
|
2) |
Ability to identify, formulate, and solve complex engineering problems; ability to select and apply appropriate analysis and modeling methods for this purpose.
|
|
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.
|
|
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.
|
|
5) |
Ability to design, conduct experiments, collect data, analyze and interpret results for the study of complex engineering problems or computer engineering research topics.
|
|
6) |
Ability to work effectively within and multi-disciplinary teams; individual study skills.
|
|
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.
|
|
8) |
Awareness of the necessity of lifelong learning; ability to access information, to follow developments in science and technology and to renew continuously.
|
|
9) |
To act in accordance with ethical principles, professional and ethical responsibility; information on the standards used in engineering applications.
|
|
10) |
Information on business practices such as project management, risk management and change management; awareness of entrepreneurship and innovation; information about sustainable development.
|
|
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.
|
|