354-0626/01 – Locomotion Subsystems for Service Robots 1 (LSpSR1)

Gurantor department	Department of Robotics	Credits	4
Subject guarantor	prof. Ing. Zdenko Bobovský, PhD.	Subject version guarantor	prof. Ing. Zdenko Bobovský, PhD.
Study level	undergraduate or graduate	Requirement	Compulsory
Year	1	Semester	winter
		Study language	Czech
Year of introduction	2021/2022	Year of cancellation
Intended for the faculties	FS	Intended for study types	Follow-up Master

Instruction secured by
Login	Name	Tuitor	Teacher giving lectures
BOB0001	prof. Ing. Zdenko Bobovský, PhD.
HEC0039	Ing. Dominik Heczko, Ph.D.

Extent of instruction for forms of study
Form of study	Way of compl.	Extent
Full-time	Credit and Examination	2+2

Subject aims expressed by acquired skills and competences

In this course, students will be acquainted with chassis of chassis and robotic systems. They will learn how to design and customize such a chassis for the defined service scenario.

Teaching methods

Lectures
Tutorials
Project work

Summary

In the course, students will get acquainted with the wheel and crawler chassis of service robotic systems. They will learn how to design and dimension chassis for the required service scenario. They will also be introduced to various ways of steering wheel and crawler chassis.

Compulsory literature:

[1] TAKAHASHI, Yoshihiko.Service robot applications. Croatia : In-Teh, 2008., ISBN 978-953-7619-00-8 [2] Jakimovski B.. Biologically Inspired Approaches for Locomotion, Anomaly Detection and Reconfiguration for Walking Robots, Springer-Verlag Berlin Heidelber, 2011, ISBN 9783642225055 [3] Zufferey J.-Ch., Bio-inspired Flying Robots Experimental Synthesis of Autonomous Indoor Flyers, EFPL Press, 2008, ISBN 9780429131226 [4] Jakimovski B.. Biologically Inspired Approaches for Locomotion, Anomaly Detection and Reconfiguration for Walking Robots, Springer-Verlag Berlin Heidelber, 2011, ISBN 9783642225055

Recommended literature:

[1] AHN, Ho Seok.Advances in service robotics. Croatia : In-Teh, 2008. ISBN 978-953-7619-02-2 [2] Xie M., Dubowsky S., Fontaine J.-G., Tokhi M. O. Virk G. S.. Advances in climbing and walking robots, World Scientific Publishing Company, 2007, ISBN 978-981-270-815-1 [3] Habib, Bioinspiration and Robotics - Walking and Climbing Robots, Itech, 2007, ISBN: 978-3-902613-15-8

Way of continuous check of knowledge in the course of semester

Continuous check and point evaluation of exercise results. The result is a semestral project.

E-learning

Use of university system LMS Moodle

Other requirements

There are no additional requirements for the student.

Prerequisities

Subject has no prerequisities.

Co-requisities

Subject has no co-requisities.

Subject syllabus:

Lecture: 1. Wheel chassis, Functional subgroups, 2. Mechanics of Wheel chassis movement 1, 3. Mechanics of Wheel chassis movement 2, 4. Mechanics of Wheel chassis movement 3, 5. Control of wheeled chassis 1, 6. Control of wheeled chassis 2, 7. Statically stable and unstable wheel systems - examples of solutions, 8. Tracked chassis, Functional subgroups, 9. Mechanics of movement of the tracked chassis 1, 10. Mechanics of movement of the tracked chassis 2, 11. Mechanics of movement of the tracked chassis 3, 12. Control of tracked chassis, 13. Tracked chassis - examples of solutions Exercises: 1. Project assignment 2. Application of service scenario methodology 3. Determination of functional and organ structure 4. Design of wheel chassis kinematics and selection of HW components 5. Elaboration of rough building structure I. 6. Elaboration of rough building structure II. 7. Preliminary calculation 8. Model transfer to the simulation environment 9. Simulation in the testing environment 10. Simulation in the testing environment 11. Design of mechanical structure 12. Control calculations 13. Submission and defenseof the project

Conditions for subject completion

Full-time form (validity from: 2021/2022 Winter semester)

Task name	Type of task	Max. number of points (act. for subtasks)	Min. number of points	Max. počet pokusů
Credit and Examination	Credit and Examination	100 (100)	51
Credit	Credit	35	15
Examination	Examination	65	36	3

Valid from	Valid until	Mandatory attendence participation
Feb 22, 2021 10:54:26 AM	Aug 18, 2023 12:00:44 PM	An attendance on the seminars is minimum 80%.

Mandatory attendence participation: In order to complete the credit, the student must submit a semester project as specified by the supervisor. Compulsory participation in the exercise is 80%. On the basis of a successfully completed credit, they can take an exam, which will consist of a written and an oral part.

Show history

Conditions for subject completion and attendance at the exercises within ISP: In order to complete the credit, the student must submit a semester project as specified by the supervisor. Compulsory participation in the exercise is 80%. On the basis of a successfully completed credit, they can take an exam, which will consist of a written and an oral part.

Show history

Valid from	Valid until	Conditions for subject completion and attendance at the exercises within ISP
Feb 15, 2023 10:52:49 AM	Aug 18, 2023 12:00:44 PM	To complete the credit, students must obtain a minimum number of points from the project. On the basis of a successfully completed credit, they can take an exam, which will consist of a written and an oral part.

Occurrence in study plans

Academic year	Programme	Branch/spec.	Form	Study language	Tut. centre	Year	Type of duty
2024/2025	(N0719A270009) Robotics	(S03) Service Robotics	P	Czech	Ostrava	1	Compulsory	study plan
2023/2024	(N0719A270009) Robotics	(S03) Service Robotics	P	Czech	Ostrava	1	Compulsory	study plan
2022/2023	(N0719A270009) Robotics	(S03) Service Robotics	P	Czech	Ostrava	1	Compulsory	study plan
2021/2022	(N0719A270009) Robotics	(S03) Service Robotics	P	Czech	Ostrava	1	Compulsory	study plan

Occurrence in special blocks

Block name	Academic year	Form of study	Study language	Year	W	S	Type of block	Block owner

Assessment of instruction

2023/2024 Winter

2022/2023 Winter