Humanoid Robotics detailed syllabus for Robotics & Automation Engineering (Robotics) for 2021 regulation curriculum has been taken from the Anna Universities official website and presented for the Robotics students. For course code, course name, number of credits for a course and other scheme related information, do visit full semester subjects post given below.
For Robotics & Automation Engineering 5th Sem scheme and its subjects, do visit Robotics 5th Sem 2021 regulation scheme. For Professional Elective-I scheme and its subjects refer to Robotics Professional Elective-I syllabus scheme. The detailed syllabus of humanoid robotics is as follows.
Course Objectives:
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Unit I
INTRODUCTION 9
Historical development of Humanoids, Human Likeness of a Humanoid Robot, Trade-Offs in Humanoid Robot Design, Human-Friendly Humanoid Robot Design, characteristics of humanoid robots.
Unit II
KINEMATICS 9
Kinematic structure, forward and inverse kinematic problems, differential kinematics, Twist, Spatial Velocity, and Spatial Transform, Inverse Differential Kinematic Relations. Differential kinematics at singular configurations- Gait Analysis
Unit III
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Unit IV
BIPED WALKING 9
Two Dimensional Walking Pattern Generation, Two Dimensional Inverted Pendulum, Behavior of Linear Inverted Pendulum, Orbital Energy, Support Leg Exchange, Planning a Simple Biped Gait, Extension to a Walk on Uneven Terrain.
Unit V
WALKING PATTERN GENERATION 9
ZMP Based Walking Pattern Generation, Cart-Table Model, Off-Line Walking Pattern Generation,Stabilizer, Principles of Stabilizing Control, Stabilizing Control of Honda Humanoid Robot, Advanced Stabilizers.
Course Outcomes:
Upon successful completion of the course, students should be able to:
- Describe about the evolution of Humanoid robots
- Expose the basic knowledge in kinematics of humanoids.
- Calculate the Humanoid Robot Motion and Ground Reaction Force.
- Identify Two-Dimensional Walking pattern on different terrain.
- Create the Walking Pattern models.
Text Books:
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Reference Books:
- A. Goswami, P. Vadakkepat (Eds.), “Humanoid Robotics: A Reference”, Springer, Netherlands, Dordrecht, 2018
- J K. Harada, E. Yoshida, K. Yokoi (Eds.), “Motion Planning for Humanoid Robots”, Springer, London, 2010.
- Lorenzo Sciavicco and Bruno Siciliano, “Modelling and Control of Robot Manipulators”, second edition, Springer, 2000.
- Jean-Claude Latombe, “Robot Motion Planning”, Kluwer Academy Publishers, 2004.
For detailed syllabus of all the other subjects of Robotics & Automation Engineering 5th Sem, visit Robotics 5th Sem subject syllabuses for 2021 regulation.
For all Robotics & Automation Engineering results, visit Anna University Robotics all semester results direct link.