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26D051SKR - Soft and compliant robotics

Course specification
Course title Soft and compliant robotics
Acronym 26D051SKR
Study programme Electrical Engineering and Computing
Module System Control and Signal Processing
Type of study doctoral studies
Lecturer (for classes)
Lecturer/Associate (for practice)
    Lecturer/Associate (for OTC)
      ESPB 9.0 Status elective
      Condition /
      The goal Analysis of practical challenges (inspection of confined spaces, manipulation of irregular objects, interaction) through the design and modeling of bio-inspired soft and compliant joint robots; Development of model-based control or learning for soft and elastic robotic systems; Practical experience of simulation and experiments; Consideration of multidisciplinary aspects of soft robotics.
      The outcome Understanding the basic principles of soft and elastic robotic systems. Getting to know tools for modeling and simulation of these systems, model-based or learning-based control strategies. Gaining experience in simulation or experimental evaluation of soft robots, as well as forming multidisciplinary research in the field of designing new robotic systems.
      Contents
      Contents of lectures Students will be introduced to methods for fabricating soft robots (pneumatic and tendon-driven actuation, geometric and inherent compliance of the robot body, implementation of sensory systems), modelling (kinematic and dynamic robot models such as constant-curvature and polynomial models), and control (closed-loop control of the shape or end-effector of a soft robot).
      Contents of exercises Practical work through project assignments on the simulation or experimental evaluation of soft and compliant robots.
      Literature
      1. Nanayakkara, Thrishantha. Handbook on Soft Robotics. Springer, 2024. (Original title)
      2. Z. Chen et al., "A Survey on Soft Robot Adaptability: Implementations, Applications, and Prospects [Survey]," in IEEE Robotics & Automation Magazine (Original title)
      3. Armanini, Costanza, et al. "Soft robots modeling: A structured overview." IEEE Transactions on Robotics 39.3 (2023): 1728-1748. (Original title)
      4. Della Santina, Cosimo, Christian Duriez, and Daniela Rus. "Model-based control of soft robots: A survey of the state of the art and open challenges." IEEE Control Systems Magazine 43.3 (2023): 30-65. (Original title)
      Number of hours per week during the semester/trimester/year
      Lectures Exercises OTC Study and Research Other classes
      8
      Methods of teaching Lectures and practical classes in the form of project assignments
      Knowledge score (maximum points 100)
      Pre obligations Points Final exam Points
      Activites during lectures Test paper
      Practical lessons Oral examination 40
      Projects 60
      Colloquia
      Seminars