Content, progress and pedagogy of the module

Students who complete the module should have knowledge about the dynamics of the human body and robotic mechanisms. The acquired knowledge should be applicable for designing of industrial robots as well as servicing and rehabilitation robots.

Learning objectives

Knowledge

• Must be able to account for key concepts about the human musculoskeletal system, such as cross-bridge theory, different types of muscle contractions, Force-Length-Velocity relationships and different type of joints
• Must be able to account for key concepts from musculoskeletal modelling, such as muscle redundancy, inverse dynamics based estimation of muscle forces and assumptions in these models
• Must be able to explain basic concepts of robotic mechanisms
• Must be able to explain the acceleration of a rigid body, linear and angular accelerations
• Must be able to account for the mass distribution of a rigid body
• Must be able to account for Newton and Euler’s equation
• Must be able to explain a Lagrangian formulation of manipulator dynamics

Skills

• Must be able to formulate the dynamic equations of robotic mechanisms
• Must be able to simulate and analyse robot motion
• Must be able to apply musculoskeletal modelling techniques on problems within robotics and its interaction with humans.

Competences

• Must have an in-depth knowledge of robot dynamics which is applicable to the design and control of robotic systems
• Must be able to analyse and select properly robotic mechanisms for desired motion
• Must be able to analyse and critically evaluate the differences and similarities between the biological and robotic movement and actuator system

Exam

Exams