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Selected Topic: Biologically Inspired Robotics I

Course code: AT70.9020
Credits: 1(1–0)
This course is elective

Course objectives

Biologically Inspired Robotics is concerned with the study of biology as the inspiration for building robots. The idea is not to mimic nature but to use nature as the inspiration for the robot's construction. This course is an introduction to biologically inspired robot. The course prepares students to do thesis research in the field of robotics.

Learning outcome

Introduction, snake-like robots, snake-like manipulators, mobile robot design, student presentation of research papers.

Course outline

I.      Introduction 
1.    Background
2.    History
3.    Applications
II.     Snake-like Robots
1.    Biomechanical study of snakes
2.    Experiments with snakes
3.    Snake-like robots
III.    Snake-like Manipulators
1.    Introduction
2.    Gripper design
3.    Mechanism of gripper
IV.    Design of Mobile Robots
1.    Introduction
2.    Types of locomotion
3.    Walking robots
V.     Student presentation of research papers/Class project

Laboratory sessions


Learning resources


Shigeo Hirose: Biologically Inspired Robots (Snake-like Locomotors and Manipulators), Oxford University Press, (1993)
Roland Siegwart, Illah R. Nourbakhsh: Introduction to Autonomous Mobile Robots (2004)
Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia E. Kavraki, Sebastian Thrun: Principles of Robot Motion: Theory, Algorithms, and Implementations (2005)

Reference books

IEEE Transactions on Robotics.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Proceeding of the International Conference on Robotics and Automation (ICRA)
IEEE Robotics & Automation Magazine


30% in-class presentations
10% in-class discussion and presentation feedback
10% homework
10% class report
40% class project

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