151-0636-00L Soft and Biohybrid Robotics
Semester | Spring Semester 2021 |
Lecturers | R. Katzschmann |
Periodicity | yearly recurring course |
Language of instruction | English |
Courses
Number | Title | Hours | Lecturers | |||||||||||||
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151-0636-00 G | Soft and Biohybrid Robotics Starting from 03.05.21 all the classes will be held at HG D7.1. | 3 hrs |
| R. Katzschmann |
Catalogue data
Abstract | Soft robotics takes inspiration from nature and produces systems that are inherently safer to interact with. The class teaches processes involved in creating the structures, actuators, sensors, mechanical models, controllers, and machine learning models exploiting the deformable structure of soft robots in challenging tasks. (Class fully online via Zoom) |
Objective | Learn about the processes involved in creating soft and biohybrid robotic structures, actuator, sensors, mechanical models, closed-loop controllers, and machine learning approaches. Understand how to exploit the structural impedance and the dynamics of soft and biohybrid robots in locomotion and object manipulation tasks. Demonstrated learned capabilities in either a simulation or a physical prototype built at home. |
Content | Students will gain experience on a range of soft technologies and a model-based approaches to design and simulation of soft continuum robots. 0) Semester-long take-home project requiring students to implement the skills and knowledge learned during the class by building their own soft robotic prototype or simulation 1) Functional and intelligent materials for use in soft and biohybrid robotic applications 2) Design and design morphologies of soft robotic actuators and sensors 3) Fabrication techniques including 3D printing, casting, roll-to-roll, tissue engineering 4) Mechanical modeling including minimal parameter models, finite-element models and ML-based models 5) Closed-loop controllers of soft robots that exploit the robot's impedance and dynamics for locomotion and manipulation tasks 6) Deep Learning approaches to soft robotics, for design synthesis, modeling, and control (Class offered only online via Zoom, see Moodle for details) |
Lecture notes | All class materials including slides, recordings, class challenges infos, pre-reads, and tutorial summaries can be found on Moodle: Link |
Literature | 1) Wang, Liyu, Surya G. Nurzaman, and Fumiya Iida. "Soft-material robotics." (2017). 2) Polygerinos, Panagiotis, et al. "Soft robotics: Review of fluid‐driven intrinsically soft devices; manufacturing, sensing, control, and applications in human‐robot interaction." Advanced Engineering Materials 19.12 (2017): 1700016. 3) Verl, Alexander, et al. Soft Robotics. Berlin, Germany:: Springer, 2015. 4) Cianchetti, Matteo, et al. "Biomedical applications of soft robotics." Nature Reviews Materials 3.6 (2018): 143-153. 5) Ricotti, Leonardo, et al. "Biohybrid actuators for robotics: A review of devices actuated by living cells." Science Robotics 2.12 (2017). 6) Sun, Lingyu, et al. "Biohybrid robotics with living cell actuation." Chemical Society Reviews 49.12 (2020): 4043-4069. |
Prerequisites / Notice | (Robot) dynamics, control systems, introduction to robotics, materials for engineers. Only for students at master or PhD level. Class size limitation is at 40 students. |
Performance assessment
Performance assessment information (valid until the course unit is held again) | |
Performance assessment as a semester course | |
ECTS credits | 4 credits |
Examiners | R. Katzschmann |
Type | session examination |
Language of examination | English |
Repetition | The performance assessment is offered every session. Repetition possible without re-enrolling for the course unit. |
Mode of examination | oral 30 minutes |
This information can be updated until the beginning of the semester; information on the examination timetable is binding. |
Learning materials
Main link | Soft and Biohybrid Robotics Class |
Only public learning materials are listed. |
Groups
No information on groups available. |
Restrictions
Places | 40 at the most |
Waiting list | until 07.03.2021 |
Offered in
Programme | Section | Type | |
---|---|---|---|
Computational Science and Engineering Master | Robotics | W | |
Robotics, Systems and Control Master | Core Courses | W |