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. |
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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: |
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) |
Build up a body of knowledge in mathematics, science and Mechatronics Engineering subjects; use theoretical and applied information in these areas to model and solve complex engineering problems. |
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2) |
Identify, formulate, and solve complex Mechatronics Engineering problems; select and apply proper modeling and analysis methods for this purpose. |
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3) |
Design complex Mechatronic systems, processes, devices or products under realistic constraints and conditions, in such a way as to meet the desired result; apply modern design methods for this purpose. |
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4) |
Devise, select, and use modern techniques and tools needed for solving complex problems in Mechatronics Engineering practice; employ information technologies effectively. |
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5) |
Design and conduct numerical or pysical experiments, collect data, analyze and interpret results for investigating the complex problems specific to Mechatronics Engineering. |
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6) |
Cooperate efficiently in intra-disciplinary and multi-disciplinary teams; and show self-reliance when working on Mechatronics-related problems. |
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7) |
Ability to communicate effectively in English and Turkish (if he/she is a Turkish citizen), both orally and in writing. Write and understand reports, prepare design and production reports, deliver effective presentations, give and receive clear and understandable instructions. |
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8) |
Recognize the need for life-long learning; show ability to access information, to follow developments in science and technology, and to continuously educate oneself. |
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9) |
Develop an awareness of professional and ethical responsibility, and behave accordingly. Be informed about the standards used in Mechatronics Engineering applications. |
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10) |
Learn about business life practices such as project management, risk management, and change management; develop an awareness of entrepreneurship, innovation, and sustainable development. |
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11) |
Acquire knowledge about the effects of practices of Mechatronics Engineering on health, environment, security in universal and social scope, and the contemporary problems of Mechatronics engineering; is aware of the legal consequences of Mechatronics engineering solutions. |
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