HY590 "Biomimetic Robotics" (York credit for CSE4421 3.0)

Summer 2006 (Heraclion)

Course Director: D. Tsakiris.

The course will draw on studies from computational neuroethology and the computational neurosciences, in order to address topics related to biomimetic robot locomotion and control, in particular:

- the kinematics and dynamics of robotic systems,
- the control of robotic systems, with emphasis on linear and non-linear control, on sensor-based control, and on behavior-based control,
- the neural mechanisms for control of locomotion, such as the central pattern generator neural networks responsible for rhythmogenesis in biological systems.

Prerequisites: A CSE gpa
of at least 4.5; MATH1025 3.0; MATH1300 3.0; MATH1310 3.0; CSE2011 3.0;
CSE2031 3.0. Recommended:
Familiarity with Matlab.

The evaluation is expected to consist of homework assignments (15%), a project (35%) and a final exam (50%).

The projects may be
computational (simulations, using Matlab, or Maple, etc.) and/or small
scale contructions of robots using Legos.

York students may also be interested and get involved in design
projects with the Pioneer and RWI mobile robots of CVRL (see http://www.ics.forth.gr/cvrl/robots.html).

References:

- Introduction to Robotics, John J. Craig, Addison-Wesley Publishing, Inc. (Must have; Please obtain in Toronto pre-departure)

- Neurotechnology for Biomimetic Robots, J. Ayers, J.L. Davis and A. Rudolph, Eds., MIT Press, 2002
- The Handbook of Brain Theory and Neural Networks, Second Edition, Edited by Michael A. Arbib, MIT Press, 2002
- Mathematical Biology, An Introduction, Series: Interdisciplinary Applied Mathematics, Vol. 17 , Volume package: Mathematical Biology, Murray, James D., 3rd ed. 2002