Credits: 3

Semesters Offered

Spring 2018, Spring 2019, Spring 2020, Spring 2021, Spring 2022

Learning Objectives

At the end of this course, students will have the following primary knowledge:
  • Fundamentals of Traditional Robots
  • Fundamentals of Biologically Inspired Robots
  • Design and Fabrication of Biologically Inspired Robots


Topics Covered

  • Homogenous Transformations
  • Forward Kinematics
  • Inverse Kinematics
  • Velocities and Jacobians
  • Robot Dynamics
  • Trajectory Generation
  • Legged Locomotion
  • Body Undulation Based Locomotion
  • Actuators and Sensors
  • Robot Programming


Learning Outcomes

  • an ability to apply knowledge of mathematics, science, and engineering
  • an ability to design and conduct experiments, as well as to analyze and interpret data
  • an ability to design a system, component, or process to meet desired needs within realistic constraints such as economic, environmental, social, political, ethical, health and safety, manufacturability, and sustainability
  • an ability to identify, formulate, and solve engineering problems
  • a knowledge of contemporary issues
  • an ability to use the techniques, skills, and modern engineering tools necessary for engineering practice

Additional Course Information


Bruck, Hugh


J.J. Craig. Introduction to Robotics: Mechanics and Control. Prentice Hall; 3rd edition, 2003

Supplemental Materials:

  • G. A. Bekey. Autonomous Robots. MIT Press, 2005
  • Karl Williams. Amphibionics: Build Your Own Biologically Inspired Reptilian Robot. McGraw-Hill/TAB Electronics, 2003
  • David Cook. Robot Building for Beginners. Apress, 2002
  • Some software to complete assignments is accessible through the Virtual Computing Laboratory (
  • Use of software (such as Matlab or Mathematica) is also permitted to assist in the development of handwritten or word-processed solutions.
  • Students will be provided with the hardware they need for their projects.
  • Students will be able to work with the hardware at home.
  • Students will be able to utilize machine shop resources for their projects.
  • The Advanced Manufacturing Lab (JMP 1110) will also be available at the end of the semester for final debugging of projects.

Class/Laboratory Schedule 

Two 75 min lecture sessions per week.

Last Updated By 
Hugh Bruck, June 2017