The science & engineering of
dynamic & dexterous movement
Mechanical & Aerospace Engineering, UC San Diego

MAE 207: Bioinspired mobile robotics: Bioinspired mobile robotics

Bioinspired mobile robotics

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

  1. 10.
MAE 156a: Fundamental Principles of Mechanical Design I

Overview of the design and use of machine elements in mechanical design.

Course site

  • Fall, 2017
  • Winter, 2017
MAE 150: Computer aided analysis and design

Undergraduate level course on computer aided methods for machine design and analysis. Course material available on TritonEd

  • Winter, 2018