Dynamic Walking and Running with Robots

Hosted by ETH Zurich
11 – 15 July, 2011

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• Course Description
• Target Audience
  
• Delivery Method, Exam & Learning Outcomes
  
• Where You Will Stay
  
• Costs

Course Description

40 years after the first autonomous walking robot and 20 years after Mark Raibert's seminal work on robotic running, research on legged locomotion is renewing itself vibrantly and innovative as never before. With the problem of statically stable locomotion nearly solved, the commercialization of ZMP-controlled bipeds at hand, and the ongoing large-scale application of Raibert's principles, the robotics community now strives to close the performance gap that still separates robotic devices from their counterparts in nature. Energy efficiency, higher locomotion speeds, versatility, and robustness, are the key ingredients that will allow a wide-spread application of legged locomotion in autonomous systems. In this school, we want to prepare a new generation of engineers for these challenges, expose them to the current state of the art, and highlight fascinating areas of future research.

To this end, the school will give a compact introduction into the engineering fundamentals of legged locomotion. It will provide the participants with the necessary concepts, tools, and methods that allow them to extend their knowledge of design, simulation, and control to the thrilling field of legged robotics. Within this general scope, we will specifically focus on all forms of dynamic locomotion and thus include lectures and exercises on exciting issues such as under-actuation, hybrid dynamic modeling, limit cycle analysis, and optimal control. Stressing the importance of learning from nature, the engineering perspective will be complemented by an introduction to the basic concepts of walking and running in biological systems. Physiology, morphology, and the characteristics of different gaits will be discussed and set into sperspective with respect to robotics and prosthetics. Finally, in a number of selected case studies presented by internationally recognized experts in the field, we will point to areas of stimulating research and allow you to see beyond the current state of the art.

The school is designed for graduate students of all levels. A solid background in engineering will enable you to profit most from the lectures and exercises, while the course might still serve as a good introduction to people of different background who want to learn more about this inspiring field. This summer school is part of the Swiss National Competence Center for Research in Robotics.

Target Audience

The course is primarily aimed for graduate students (Master or PhD) and students who have just completed their undergraduate degree, with a solid background in engineering. However, students with a different background who want to learn more about this inspiring field are also welcome.

Delivery Method, Exam & Learning Outcomes

This course will be given in 11 two-hour lectures and 5 two-hour exercises, and will feature a full day of case studies.

Course schedule

Monday, 11 July:
Engineering Fundamentals: Basic Concepts of Dynamic Locomotion

8.15-10.00 -> What is walking/running

10.15-12.00 -> Modelling

13.15-15.00 -> Limit cycles & passive dynamics

15.15-17.00 -> Exercise: A passive dynamic walker

Evening reception

Tuesday, 12 July:
Engineering Fundamentals: Efficient Locomotion on Flat Ground

8.15-10.00 -> Exercise: Running in simulation 10.15-12.00 -> Hardware

13.15-15.00 -> Optmization

15.15-17.00 -> Exercise: Optimization

Wednesday, 13 July:
Engineering Fundamentals/Biology: Locomotion in Rough Terrain

8.15-10.00 -> Stability on extended support

10.15-12.00 -> Force control

13.15-15.00 -> Exercise: Force control

15.15-17.00 -> Conceptual models in biology

Social/barbecue

Thursday, 14 July:
Biology: Physiology

8.15-10.00 -> Morphology and gaits 10.15-12.00 -> Energetics and efficiency

13.15-15.00 -> Exercise: Gait analysis

15.15-17.00 -> Multiple legs

Friday, 18 July

Case studies

Farewell dinner

Faculty:
Roland Siegwart, C. David Remy, Marco Hutter, Katja Mombaur, Jonas Buchli, Fumiya Iida, Hartmut Geyer, Shuuji Kajita, Stefano Stramigioli, Russ Tedrake, Art Kuo, and Auke Ijspeert will be conducting this course.

Where You Will Stay

We will provide basic accommodation for all participants in a remodeled former air-raid shelter in the basement of the Computer Science building (no windows). This is right next door to the main building, and will feature dormitory style rooms with shared bathrooms. This accommodation will be free of charge for all participants. It will be open from Sunday evening to Saturday morning, to accommodate travel that requires an additional night in Zurich.

If more privacy and comfort is desired, students must organize alternative accommodation on their own responsibility and expense (double rooms start at around CHF 65 per night and person).

Costs

Tuition fee: Waived for IARU partner students

Accommodation: Basic accommodation (air-raid shelter) is free of charge

Miscellaneous: CHF200 for all course materials, as well as breakfast, coffee-breaks, and two dinners during the school.

Living Expenses: CHF200 (estimated). Lunch and dinner is available at the ETH Zurich Cafeterias and in nearby venues from ~15 CHF (including a drink)

Note: This course is open to both IARU students and students from other universities (Application deadline 15 April 2011). Further information: www.roboticsschool.ethz.ch/leggedlocomotion.