Nick Gravish
This course presents an overview of bio-inspired mobile robotics using lecture and project based work. We will cover mobility modes including: legged locomotion (running/climbing), flight (flapping wing, fixed wing), serpentine (sidewinding), and swimming. The course will present the history and state of the art in mobile robotics from a practical perspective. 1) Why bio-inspired and what does that entail for a robotics engineer?, 2) How do we design, component select, and control bio-inspired mobile robots?, 3) What are the relevant dynamics/mechanics, control, and components used in differnt modes of bio-inspired locomotion.
Walking/running robots Flying robots Swimming robots Snake robots
In this class we will develop a direct-drive robot leg. We will study leg design, actuation, and control in the context of jumping, 2D hopping, and running. Project work will require python and C++ programming and hands-on design skills.
Bio-inspired and moble – an introduction 1. Intro. to topic, overview of math. 2. Forward kinematics 3.
Broad hardware for dynamic robotics 2. Actuators, sensors and vision
Aerial robotics 3. 4. 5.
Legged robotics 6. 7. The Raibert hopper 8. Algorithms for trajectory planning
Overview of the design and use of machine elements in mechanical design.
Undergraduate level course on computer aided methods for machine design and analysis. Course material available on TritonEd
Assistant Professor, UC San Diego
Mechanical & Aerospace Engineering
Building EBU II
Office: Room 280
Labs: Room B114 & 118
ngravish ATSIGN eng.ucsd.edu
