Učni načrt predmeta

Predmet:

Biorobotika

Course:

Biorobotics

Študijski program in stopnja / Study programme and level	Študijska smer / Study field	Letnik / Academic year	Semester / Semester
Informacijske in komunikacijske	Inteligentni sistemi in robo	tika 1	1
Information and Communication	Intelligent Systems and Roboti	cs 1	1

Vrsta predmeta / Course type

Izbirni

Univerzitetna koda predmeta / University course code:

IKT3-627

Predavanja Lectures	Seminar Seminar	Vaje Tutorial	Klinične vaje work	Druge oblike študija	Samost. delo Individ. work	ECTS
15	15			15	105	5

*Navedena porazdelitev ur velja, če je vpisanih vsaj 15 študentov. Drugače se obseg izvedbe kontaktnih ur sorazmerno zmanjša in prenese v samostojno delo. / This distribution of hours is valid if at least 15 students are enrolled. Otherwise the contact hours are linearly reduced and transfered to individual work.

Nosilec predmeta / Course leader:

prof. dr. Jan Babič

Sodelavci / Lecturers:

Jeziki / Languages:

Predavanja / Lectures:

slovenščina, angleščina / Slovenian, English

Vaje / Tutorial:

Pogoji za vključitev v delo oz. za opravljanje študijskih obveznosti:

Prerequisites:

Zaključena druga stopnja bolonjskega študija ali diploma univerzitetnega študijskega programa. Pri tem predmetu je potrebno predznanje matematike, fizike, znanje o sistemih vodenja in programiranja. Priporočeni predmeti:
- inteligentni sistemi vodenja robotov
- robotski vid

Completed Bologna second cycle study program or an equivalent pre-Bologna university study program. This course requires profound knowledge of mathematics, physics, theory of control systems and computer programming. Recommended courses:
- Intelligent robot control
- Robot vision

Vsebina:

Content (Syllabus outline):

- Uvod v mehaniko in motorično vodenje živali in ljudi
- Mehanika mišično-skeletnega sistema in principi nevronskega sistema vodenja
- Metode zajemanja gibanja in merjenje biomehanskih parametrov
- Uporaba biomehanike pri razvoju humanoidnih mehanizmov
- Učenje robotov: - s posnemanjem, - spodbujevalno učenje
- Humanoidni roboti v človekovem okolju (sodelovanje človeka z robotom)
- Biološko motivirani robotski sistemi
- Lokomocija
- Senzorski sistemi za zaznavo okolja
- Uporaba servisnih robotov

- Introduction to mechanics and motor control of animals and humans
- Mechanics of musculoskeletal system and principles of neural control
- Motion capture methods and acquisition of biomechanical parameters
- Application of biomechanics in the development of humanoid mechanisms
- Learning of humanoid and service robots: - Imitation learning, - Reinforcement learning
- Humanoid robots in human environments (human - robot cooperation)
- Biologically inspired robotic systems
- Locomotion
- Advanced sensory systems for environment detection and localisation
- Service robots applications

Temeljna literatura in viri / Readings:

Izbrana poglavja iz naslednjih knjig: / Selected chapters from the following books:
- R.M. Enoka: Neuromechanics of Human Movement, 3rd edition, Human Kinetics Books, 2002. ISBN 0-
736-00251-0
- D.A. Winter: Biomechanics and Motor Control of Human Movement, John Wiley & Sons, 2005. ISBN 0-
471-50908-6
- J.M. Winters, P.E. Crago: Biomechanics and Neural Control of Posture and Movement, Springer, 2000.
ISBN 0-387-94974-7
- B. Siciliano, O. Khatib (Eds.): Springer Handbook of Robotics, Springer-Verlag Berlin Heidelberg, 2008.
ISBN 9893540239574
- J.H. Connell, S. Mahadevan: Robot Learning, Springer, 1993. ISBN 9780-7923-9365-8

Cilji in kompetence:

Objectives and competences:

Cilj predmeta je razumeti osnovne biomehanske principe gibanja, osvojiti znanja iz osnov biorobotike, vodenja, učenja ter uporabe humanoidnih robotov. Poudarek je na sodobnih pristopih vključevanja robotskih mehanizmov v človekovo okolje.

Pridobljena znanja bodo omogočila študentom razumevanje principov gibanja in obvladovanje osnov sodobnih tehnologij s področja biorobotike ter prenos teh tehnologij v prakso.

The objective of this course is to understand the basics biomechanical principles of motion, to obtain theoretical and practical knowledge of the basics of biorobotics, control, learning and applications of humanoid robots. The emphasis is on modern approaches of the integration of robot systems into human-like environments.

The obtained knowledge will allow the students to understand the basic principles of motion and handle modern technologies of biorobotics and to apply these technologies into real practice.

Predvideni študijski rezultati:

Intendeded learning outcomes:

Študent z uspešno opravljenimi obveznostmi tega predmeta:
- izkazuje znanje in razumevanje s področja biomehanike in motoričnega vodenja živali in ljudi,
- zna analitsko opredeliti lastnosti biorobotov in utemeljiti njihov namen,
- zna uporabiti pridobljeno znanje za izvedbo, analizo in ovrednotenje aplikacije v sodobni robotiki,
- razume pomen in strukturo humanoidnega robota,
- pozna vrste biorobotov, njihove značilnosti in tipična področja uporabe tovrstnih robotov ter vzroke za uporabo humanoidnih robotov.

Student successfully completing this course will:
- demonstrates the knowledge and understanding of biomechanics and motor control of animals and humans,
- is able to analytically determine properties of biorobots and justify their purpose,
- is able to apply the knowledge to implement, analyse and evaluate applications in contemporary robotics,
- understands the structure and sense of a humanoid robot,
- knows the various types of biorobots and their characteristics and knows the most common areas of applications for such robots and reasons for application of humanoid robots.

Metode poučevanja in učenja:

Learning and teaching methods:

Predavanja, konzultacije, seminarji, laboratorijsko delo

Lectures, consultations, seminar work, laboratory work

Načini ocenjevanja:

Delež v % / Weight in %

Assesment:

Ustni izpit

50 %

Oral exam

Seminarska naloga

25 %

Seminar work

Zagovor

25 %

Oral defense

Reference nosilca / Lecturer's references:

1.	DEŽMAN, Miha, MASSARDI, Stefano, PINTO FERNÁNDEZ, David, GROSU, Victor, RODRÍGUEZ GUERRERO, Carlos D., BABIČ, Jan, TORRICELLI, Diego. A mechatronic leg replica to benchmark human–exoskeleton physical interactions. Bioinspiration & biomimetics. 2023, vol. 18, no 3, str. 036009-1-036009-18.
2.	Maurice, P., Camernik, J., Gorjan, D., Schirrmeister, B., Bornmann, J., Tagliapietra, L., Latella, C., Pucci, D., Fritzsche, L., Ivaldi, S., Babic, J. (2020). Objective and subjective effects of a passive exoskeleton on overhead work. IEEE transactions on neural systems and rehabilitation engineering, 28(1), 152-164.
3.	JAMŠEK, Marko, KUNAVAR, Tjaša, BOBEK, Urban, RUECKERT, Elmar, BABIČ, Jan. Predictive exoskeleton control for arm-motion augmentation based on probabilistic movement primitives combined with a flow controller. IEEE Robotics and automation letters. 2021, vol. 6, no. 3, str. 4417-4424.
4.	KIM, Wansoo, PETERNEL, Luka, LORENZINI, Marta, BABIČ, Jan, AJOUDANI, Arash. A human-robot collaboration framework for improving ergonomics during dexterous operation of power tools. Robotics and computer-integrated manufacturing. 2021, vol. 68, str. 102084 -1-102084-10.
5.	UGURLU, Barkan, OSHIMA, Hironori, SARIYILDIZ, Emre, NARIKIYO, Tatsuo, BABIČ, Jan. Active compliance control reduces upper body effort in exoskeleton-supported walking. IEEE transactions on human-machine systems. [Print ed.]. 2020, vol. 50, no. 2, str. 144-153.