354-0631/02 – Action Subsystems of Service Robots 1 (ASSR1)

Gurantor departmentDepartment of RoboticsCredits3
Subject guarantordoc. Ing. Zdenko Bobovský, PhD.Subject version guarantordoc. Ing. Zdenko Bobovský, PhD.
Study levelundergraduate or graduateRequirementCompulsory
Study languageEnglish
Year of introduction2021/2022Year of cancellation
Intended for the facultiesFSIntended for study typesFollow-up Master
Instruction secured by
LoginNameTuitorTeacher giving lectures
BOB0001 doc. Ing. Zdenko Bobovský, PhD.
HEC0039 Ing. Dominik Heczko, Ph.D.
PAS0067 Ing. Robert Pastor, Ph.D.
Extent of instruction for forms of study
Form of studyWay of compl.Extent
Full-time Credit and Examination 1+3

Subject aims expressed by acquired skills and competences

The aim of the course is to acquaint students with selected types of action superstructures, their characteristics and requirements. The graduate of the course will get an idea of the types of action superstructures and their operation, knowledge necessary for specifying the requirements placed on these subsystems and basic experience concerning their design.

Teaching methods

Project work


With the advancement of service robotics and other related industries, the number of areas and applications in which these devices are used is expanding. Often basic platforms are used to enable the robot to move and action subsystems perform their own function. The aim of the course is to acquaint students with selected types of action subsystems, their characteristics and requirements. The graduate of the course will get an idea of the types and methods of action subsystems, the knowledge needed to specify the requirements for these subsystems and basic experience related to their design.

Compulsory literature:

[1] CECCARELLI, Marco. Service robots and robotics: design and application. Hershey, PA: Engineering Science Reference, c2012. ISBN 9781466602922. [2] SICILIANO, Bruno. Robotics: modelling, planning and control. London: Springer, c2009. Advanced textbooks in control and signal processing. ISBN 978-1-84628-641-4.

Recommended literature:

[1] Robotics: concepts, methodologies, tools, and applications. Hershey, Pennsylvania: Information Science Reference, [2014]. ISBN 9781466646087. [2] Jaulin, Luc" Mobile Robotics,2019, 384 pp., 86305237/9781786305237

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.


Use of university system LMS Moodle

Other requirements

There are no additional requirements for the student.


Subject has no prerequisities.


Subject has no co-requisities.

Subject syllabus:

Lectures: 1. Personal and domestic use: floor cleaning, vacuuming, mowing grass, cleaning pools, windows 2. Personal and domestic use: companions / assistants / humanoids 3. Fun robots: toys / hobby, multimedia / remote systems, 4. Fun robots: education and research 5. Medical robots: Diagnostic systems, robot-assisted surgery or therapy, rehabilitation systems, robotic chairs, personal assistance and assistive devices, personal AGV transportation for people, home security and monitoring, powered human exoskeletons 6. Field robots: Agriculture 7. Field robots: Milking robots, 8. Field robots: Other robots for working with live animals 9. Field robots: Forestry and forest cultivation 10. Field robots: Mining robots, space robots 11. Professional cleaning: Floors, windows and walls, including climbing robots 12. Professional cleaning: Cleaning of tanks and pipes, large systems - aircraft 13. Inspection of: Plants, power plants, 14. Inspection: Tanks, pipes and channels Syllabus of exercises: 1. Assignment of the project - research 2. Application of the service scenario methodology 3. Determination of functional and organ structure 4. Design of mechanism kinematics 5. Elaboration of the rough building structure I. 6. Elaboration of the rough building structure II. 7. Preliminary calculation 8. Transferring the model to the simulation environment 9. Revival and simulation in the test environment 10. Revival and simulation in the test environment 11. Revival and simulation in the test environment 12. Design of the mechanical structure of the selected node 13. Control calculations 14. Submission and Defense

Conditions for subject completion

Full-time form (validity from: 2021/2022 Winter semester)
Task nameType of taskMax. number of points
(act. for subtasks)
Min. number of pointsMax. počet pokusů
Credit and Examination Credit and Examination 100 (100) 51
        Credit Credit 35  15
        Examination Examination 65  36 3
Mandatory attendence participation: An attendance on the seminars is minimum 80%.

Show history

Conditions for subject completion and attendance at the exercises within ISP:

Show history

Occurrence in study plans

Academic yearProgrammeField of studySpec.ZaměřeníFormStudy language Tut. centreYearWSType of duty
2022/2023 (N0719A270010) Robotics (S03) Service Robotics P English Ostrava 1 Compulsory study plan

Occurrence in special blocks

Block nameAcademic yearForm of studyStudy language YearWSType of blockBlock owner

Assessment of instruction

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