110 http://isa.epfl.ch/imoniteur_ISAP/ itffichecours.txt?path=EPFL.Etu.FicheCours.HeaderFR itffichecours.txt?path=EPFL.Etu.FicheCours.GlobalNav_js fr 2026 944263 6683147 944263 2840683608 2840683608 0 0 Genie mecanique GM STI Faculté des sciences et techniques de l'ingénieur School of Engineering !itffichecours.htm?ww_i_matiere=2343871307&ww_x_anneeAcad=2840683608&ww_i_section=944263&ww_i_niveau=6683147 1696552884 1696552963 2025-2026 COURSE BOOKLET MICRO-507 Legged robots Legged robots Lecturers Ijspeert Auke Language of teaching English Cursus Mechanical Engineering(2025-2026, GM - Master 2024)
Mechanical Engineering(2025-2026, GM - Master 2025)
Microengineering(2025-2026, MT - Master 2024)
Microengineering(2025-2026, MT - Master 2025)
Robotics(2025-2026, MT_RO - Master 2024)
Robotics(2025-2026, MT_RO - Master 2025)
SemesterMand.OptionFilières
MA1, MA3x
MA1, MA3xB
MA1, MA3xC
 Credits 4 Session Winter Workload 120h Exam During the semester Number of positions Semester Fall Weeks 14 Hours 4 weekly
Courses 2 weekly
Exercises 1 weekly
TP 1 weekly
Study planSemesterMand.OptionFilières
Génie mécanique 2025-26MA1xB
Génie mécanique 2025-26MA3xB
Microtechnique 2025-26MA1x
Microtechnique 2025-26MA3x
Robotique 2025-26MA1xC
Robotique 2025-26MA3xC
Cursus Sem. Type
Mechanical engineering MA1, MA3 Opt.
Microtechnics MA1, MA3 Opt.
Robotics MA1, MA3 Opt.
Summary The course presents the design, control, and applications of legged robots. It gives a review of different types of legged robots (including two-, four- and multi-legged robots), and an analysis of different control methods for legged locomotion. Content

The course presents the design, control, and applications of legged robots. It gives a review of different types of legged robots (including two-, four- and multi-legged robots), and analysis of different control methods for legged locomotion. It also trains students in making critical analysis of key articles in the field, and in designing their own models and locomotion controllers for legged robots in simulation.

CONTENT

  • History of legged robotics, including two-, four-, and multi-legged robots
  • Review of mechanical structures of legged robots, passive and dynamic walkers
  • Background concepts: dynamic versus static stability, different stability criteria (e.g. Zero-Moment Point ZMP, capturability, ...), energy consumption, cost of transport (COT), state estimation.
  • Simple models of locomotion: rimless wheel, inverted pendulums, linear inverted pendulum (LIP), spring-loaded inverted pendulum (SLIP), template versus anchor models
  • Analysis of different control approaches: trajectory-based methods, virtual leg control, virtual model control, hybrid-zero dynamics, optimal control, planning approaches, approaches based on reinforcement learning, and bioinspired approaches.
  • Critical literature review and presentation: Students will read several important articles in the field, and present them to the class.
  • Numerical exercises: The course will also involve numerical exercises in which students will develop their own controllers for simulated legged robots (with weekly sessions with assistants and the professor).
 Learning Prerequisites Required courses
Recommended courses
  • Mobile robots
  • Model predictive control
 Learning Outcomes By the end of the course, the student must be able to:
  • Make
  • Carry out
  • Analyze
 Transversal skills
  • Make an oral presentation.
  • Write a literature review which assesses the state of the art.
  • Identify the different roles that are involved in well-functioning teams and assume different roles, including leadership roles.
 Teaching methods

Lectures, student presentations of articles, develop controllers for simulated robots

 Expected student activities

Reading and presenting an article

Developping controllers for simulated legged robots

 Assessment methods

Written exam, student presentation and project.

 Resources Virtual desktop infrastructure (VDI) No Bibliography

See Moodle

 Notes/Handbook

See Moodle

 Moodle Link Microtechnique, 2025-2026, Master semestre 1 Microengineering, 2025-2026, Master semester 1 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 1 MA1 HIVER Master semester 1 MA1 Microtechnique MT Microengineering MT
Microtechnique MT Microengineering MT
optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
1 Exercices Exercises Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
1 TP TP Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
2343871307 Legged robots Legged robots 4
Pendant le semestre During the semester Crédit Credits 4 Session hiver Session winter HIV HIV
Microtechnique, 2025-2026, Master semestre 3 Microengineering, 2025-2026, Master semester 3 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 3 MA3 HIVER Master semester 3 MA3 Microtechnique MT Microengineering MT
Microtechnique MT Microengineering MT
optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
1 Exercices Exercises Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
1 TP TP Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
2343871307 Legged robots Legged robots 4
Pendant le semestre During the semester Crédit Credits 4 Session hiver Session winter HIV HIV
Génie mécanique, 2025-2026, Master semestre 1 Mechanical Engineering, 2025-2026, Master semester 1 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 1 MA1 HIVER Master semester 1 MA1 Génie mécanique GM Mechanical Engineering GM
Génie mécanique GM Mechanical Engineering GM
B optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
1 Exercices Exercises Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
1 TP TP Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
2343871307 Legged robots Legged robots 4
Pendant le semestre During the semester Crédit Credits 4 Session hiver Session winter HIV HIV
Génie mécanique, 2025-2026, Master semestre 3 Mechanical Engineering, 2025-2026, Master semester 3 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 3 MA3 HIVER Master semester 3 MA3 Génie mécanique GM Mechanical Engineering GM
Génie mécanique GM Mechanical Engineering GM
B optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
1 Exercices Exercises Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
1 TP TP Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
2343871307 Legged robots Legged robots 4
Pendant le semestre During the semester Crédit Credits 4 Session hiver Session winter HIV HIV
Robotique, 2025-2026, Master semestre 1 Robotics, 2025-2026, Master semester 1 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 1 MA1 HIVER Master semester 1 MA1 Robotique MT_RO Robotics MT_RO
Microtechnique MT Microengineering MT
C optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
1 Exercices Exercises Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
1 TP TP Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
2343871307 Legged robots Legged robots 4
Pendant le semestre During the semester Crédit Credits 4 Session hiver Session winter HIV HIV
Robotique, 2025-2026, Master semestre 3 Robotics, 2025-2026, Master semester 3 Ecole polytechnique fédérale de Lausanne EPFL Ecole polytechnique fédérale de Lausanne EPFL 2025-2026 Master semestre 3 MA3 HIVER Master semester 3 MA3 Robotique MT_RO Robotics MT_RO
Microtechnique MT Microengineering MT
C optionnel optional
2 Cours Courses Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
1 Exercices Exercises Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
1 TP TP Heure(s) hebdo x 14 semaines Hour(s) per week x 14 weeks H hebdo H hebdo Ijspeert Auke 115955
Ingénierie des sciences du vivant SV Life Sciences Engineering SV
2343871307 Legged robots Legged robots 4
Pendant le semestre During the semester Crédit Credits 4 Session hiver Session winter HIV HIV
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