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This module offers students the chance to further their knowledge and skills developing algorithms to predict semantic properties from raw sensor data and computed 3D models Wheels are typically restricted to flat surfaces, and drones are limited by safety and pow.er consumption. An alternative is legged robotic systems. Inspired by organisms in nature, these have been shown to be highly successful in many application domains from climbing staircases, to climbing mountains carrying heavy loads.

Aims:

The aims of the module are to:Ìý

• Develop students’ knowledge of how to mathematically describe legged robots at three levels: how to model the overall control problem of describing a walking system, how to plan to move the legs to achieve a desired movement, and how sensing the environment impacts the way the robot can plan and move.Ìý
• Support students in creating practical solutions in robotics and AI against functional and non-functional requirements, testing and assessing those in simulated and real-world environments and articulating the limitations of those assessments.Ìý

Intended learning outcomes:

1. On successful completion of this module, a student will be able to:
2. Apply the fundamentals of describing, controlling, planning and sensing with legged robotic systems in the context of control to solve complex problems in the field of robotics and artificial intelligence.
3. Demonstrate a breadth of knowledge and of how to apply the theoretical knowledge to real-world robotic systems.
4. Demonstrate and assess the performance of a walking system, improving it where appropriate.
5. Evaluate the technical, ethical and societal impacts of robot modelling.

Indicative content:

The following are indicative of the topics the module will typically cover:

• Whole-Body Control.
• Trajectory/ Motion Planning.
• State Estimation.
• Footstep Planning.
• Path Planning.

Requisite conditions:

To be eligible to select this module as optional or elective, a student must be registered on a programme and year of study for which it is formally available.