Design and Control of a Walking Robot

本项目旨在让机电工程专业的高级本科生了解最新的研究进展，并将重点放在一个特定的应用上。选择的应用是步行机器人的设计与控制。这一选择的主要原因是(i)最近一些PI （Azarm, Dayawansa, Tsai）在指导高年级本科生小组设计，建造和测试基本行走机器人（在课程背景下）的经验，以及（ii）结合先进概念和技术（机制综合，非线性控制，语音识别）的几乎无穷无尽的可能性。目前的课程将重新编排。主要方面包括：(i)逐步发展一个长期（三年周期）项目，每年重点不同；（ii）强调将私家侦探及其研究小组所取得的研究成果加以应用；（iii）创造有利于跨学科研究和教育的环境；（iv）研究生积极参与将其研究成果转移给本科生，从而补充更多的理论论文工作；(v)工业和联邦政府的参与；（六）与ECSEL项目紧密联系。本课程将与电气工程和机械工程交叉课程。

This project is to expose senior-level undergraduates in electrical and mechanical engineering to recent research advances by focusing on a specific application. The application selected is the design and control of a walking robot. The main reasons for this choice are (i) the recent experience of some of the PI's (Azarm, Dayawansa, Tsai) in directing groups of senior undergraduates to design, build and test rudimentary walking robots (in the context of a course) and (ii) the almost endless possibility of incorporating advanced concepts and techniques (mechanisms synthesis, nonlinear control, speech recognition). The current course will be restructured. Main aspects will include: (i) incremental development of a long term (three-year cycle) project, with different focus each year; (ii) emphasis on application of research results obtained by the PI's and their research groups; (iii) creating an environment conducive to interdisciplinary research and education; (iv) active involvement of graduate students in transferring their research results to undergraduates and thus complementing more theoretical thesis work; (v) industrial and federal involvement; (vi) strong connection with the ECSEL program. This course will be cross-listed in Electrical Engineering and Mechanical Engineering.