1
课程详述
COURSE SPECIFICATION
以下课程信息可能根据实际授课需要或在课程检讨之后产生变动。如对课程有任何疑问,请联
系授课教师。
The course information as follows may be subject to change, either during the session because of unforeseen
circumstances, or following review of the course at the end of the session. Queries about the course should be
directed to the course instructor.
1.
课程名称 Course Title
机器人与仿生学
Robotics and Biomimetics
2.
授课院系
Originating Department
机械与能源工程系
Department of Mechanical and Energy Engineering
3.
课程编号
Course Code
ME433
4.
课程学分 Credit Value
3
5.
课程类别
Course Type
专业核心课 Major Core Courses
6.
授课学期
Semester
秋季 Fall
7.
授课语言
Teaching Language
中英双语 English & Chinese
8.
他授课教师)
Instructor(s), Affiliation&
Contact
For team teaching, please list
all instructors
付成龙,机械与能源工程系,13466686964
Chenglong Fu
Department of Mechanical and Energy Engineering
13466686964
9.
/
方式
Tutor/TA(s), Contact
待公布 To be announced
10.
选课人数限额(不填)
Maximum Enrolment
Optional
2
授课方式
Delivery Method
习题/辅导/讨论
Tutorials
实验/实习
Lab/Practical
其它(请具体注明)
OtherPlease specify
总学时
Total
11.
学时数
Credit Hours
3
0
0
48
12.
先修课程、其它学习要求
Pre-requisites or Other
Academic Requirements
MAE203B 理论力学 I-B Engineering Mechanics I – Statics and Dynamics
13.
后续课程、其它学习规划
Courses for which this course
is a pre-requisite
ME434 行走机器人 Walking Robots
14.
其它要求修读本课程的学系
Cross-listing Dept.
NA
教学大纲及教学日历 SYLLABUS
15.
教学目标 Course Objectives
The purpose of this course is to introduce the basic analysis tools that are used in robotics and biomimetics of
human movement. The course focuses primarily on engineering methods to analyze or simulate dynamic
movement of animals and robots. Robotics and biomimetics are very broad fields, so the course does not address
many specific research issues. Rather, it examines some important tools and principles underlying legged
locomotion, which are useful to design and build legged robots, prosthetic devices, and exoskeletons. Central
topics include fundamentals of robotics, dynamic locomotion, human walking, design and control of walking
robots, exoskeletons and wearable devices.
本课程教学目标是介绍机器人与人体运动仿生学的基本分析工具。课程主要关注生物与机器人动态运动的
工程分析和系统仿真方法。由于机器人与仿生学是一个内涵非常广泛的领域,本课程并非致力于解决具体
研究问题,而是强调重要的工具和原理,从而能够指导设计和建造仿生机器人、先进假肢和助力外骨骼。
本课程的中心话题包括:机器人基础理论、仿生移动、人体行走、腿式机器人、假肢和可穿戴装置的设计
与控制等。
16.
预达学习成果 Learning Outcomes
本课机器仿生度交门课容涉器人动生学、仿械、
论等科知统介器人论和仿计原旨在生从仿学角应用
知识来解决复杂问题的能力,预达具体学习成果如下:
1)学生能够掌握机械操作臂和仿生机器人系统的基本原理;
2)学生能够学会仿生机器人系统的建模、分析和控制的数学工具;
3)学生能够掌握机器人运动学、动力学、轨迹规划、操作控制和移动控制的基本原理;
4)学生能够熟悉问题定义、科学研究、分工协作、论文撰写和学术演讲等过程。
This course is a highly interdisciplinary course of robotics and bionics, covering multidisciplinary knowledge of
robotics, human biomechanics, bio-inspired machine and cybernetics. The basic theory of robotics and the
principle of biomimetics design are introduced. 1) Students are expected to master the basic principles of
manipulation and locomotion; 2) Students are expected to learn the modeling, analysis and control of the
biomimetic system. The students can learn the basic principles of robot arm and bionic robot system. Math tools;
3) students are expected to master the basic principles of robot kinematics, dynamics, trajectory plan,
3
manipulation and locomotion control; 4) students are expected to be familiar with the definition of the problem,
scientific research process, cooperation, academic writing and presentation.
17.
课程内容及教学日历 (如授课语言以英文为主,则课程内容介绍可以用英文;如团队教学或模块教学,教学日历须注明
主讲人)
Course Contents (in Parts/Chapters/Sections/Weeks. Please notify name of instructor for course section(s), if
this is a team teaching or module course.)
课程内容
教学要求
学时
分配
绪论
课程介绍
先修课程要求
课程目标
为什么要用机器人
仿生学与仿生机器人
Introduction
Introduction to the course
Pre-requisites
Course goals
Why use robots
Biomimetics and Bio-inspired
Robots
了解机器人的研究历史、应用背景,仿生学和
仿生机器人的基本概念
Understand the research history, application
background and basic concepts of biomimetics and
bio-inspired robot
2
案例研究, 现状与展望
案例研究
发展趋势
Case study, status and prospect
Case study
Future trends
通过机器人研究实例了解仿生机器人技术创新
过程
了解机器人的技术发展趋势
Understand the innovation process of bio-inspired
robot technology through the robot case study
Understand trends in robotics technology
2
运动学 I
机器人操作臂
运动学预备知识
旋转矩阵
Kinematics I
robot manipulators
preliminary of kinematics
rotation matrix
掌握机器人构型、自由度、精度、重复定位精
度等概念
掌握世界坐标系、局部坐标系、基本旋转矩阵
和旋转矩阵符合法则
Learn robot configuration, DOF, precision,
repeatability.
Learn world frame, joint frame, rotation matrix,
composite rotation matrix
2
运动学 II
齐次变换矩阵
方位表示
欧拉角
Kinematics II
homogeneous matrix,
orientation representation
Euler angle
掌握齐次变换矩阵的定义和几何含义
掌握齐次变换矩阵的复合法则
掌握姿态表示和欧拉角
Understand homogeneous matrix and its geometric
interpretation
Understand composite rule of homogeneous matrix
Understand orientation representation and Euler
angle (Yaw-Pitch-Roll)
2
运动学 III
D-H 表示
D-H 参数
Kinematics III
Denavit-Hartenberg
convention
Denavit-Hartenberg
parameters
掌握 D-H 坐标系建立方法和 D-H 参数表
Understand Denavit-Hartenberg convention and
Denavit-Hartenberg parameters
2
4
运动学 IV (正向运动学)
D-H
正向运动学方程
Kinematics IV (Forward Kinematics)
Homogeneous Transformation
with D-H Conv.
Forward Kinematics Equations
掌握齐次 D-H 表示方法的齐次变换矩阵
掌握正向运动学建模过程
Understand Homogeneous Transformation with D-
H Conv.
Understand Forward Kinematics Equations
2
运动学 V (逆向运动学)
运动学逆解问题
可解性
运动学解耦
Kinematics V (inverse kinematics)
General Problem
Solvability
Kinematic Decoupling
掌握运动学逆解定义、可解性和球形手腕的运
动学解耦
Understand the conception of inverse kinematics,
solvability and kinematic decoupling (spherical
wrist)
2
运动学 VI
雅可比矩阵
反对称矩阵
旋转矩阵导数
Kinematics VI
Jacobian