Module RO5300-KP06

Duration

1 Semester

Turnus of offer

each summer semester

Credit points

6

Course of studies, specific fields and terms:

• Master Biophysics 2019, optional subject, Elective
• Bachelor Media Informatics 2020, optional subject, Robotics and Autonomous Systems
• Bachelor Robotics and Autonomous Systems 2020 , optional subject, Robotics and Autonomous Systems
• Bachelor Medical Informatics 2019, optional subject, medical computer science
• Bachelor Medical Informatics 2014, optional subject, Robotics and Autonomous Systems
• Bachelor Media Informatics 2014, optional subject, Robotics and Autonomous Systems
• Bachelor IT-Security 2016, optional subject, Robotics and Autonomous Systems
• Bachelor Robotics and Autonomous Systems 2016, optional subject, Robotics and Autonomous Systems

Classes and lectures:

• Humanoid Robotics (exercise, 2 SWS)
• Humanoid Robotics (lecture, 2 SWS)

Workload:

• 60 hours in-classroom work
• 100 hours private studies
• 20 hours exam preparation

Contents of teaching:

• Development of humanoid robots: The special features of the kinematics of humanoid robots based on the human model are considered. Challenges and strategies for the design of humanoid robots are discussed. Mechatronic concepts for humanoid robot development are presented using examples.
• Control of humanoid walking robots: Basic concepts for the planning and control of walking movements are introduced. The characteristics of human locomotion are considered. Based on this, the motion planning and control of robotic walking is presented.
• Gripping with humanoid robot hands: Grip planning and grip synthesis with humanoid robot hands is presented. Basic characteristics of human grasping are considered. Analytical methods for planning and evaluating grasps are discussed and modern approaches for learning grasps are introduced.
• Modeling and planning: Basic concepts of modeling and planning tasks are discussed. The description of a goal-oriented action using modular actions is shown. Optimization methods for automated action planning are presented.

Qualification-goals/Competencies:

• Students acquire the ability to independently solve application-oriented exercises from robotics, with a focus on (humanoid) robots with a mathematical background
• You have a basic understanding of the kinematic properties of humanoid robots
• They know the requirements for the design of humanoid robots and understand mechatronic concepts for the development of human-inspired robot kinematics.
• They understand the complexity of controlling humanoid robots, especially with regard to bipedal walking and gripping with five-fingered hands, including the dynamic processes
• You have gained an insight into learning methods for planning the action sequences of humanoid robots, including the dynamic processes
• You have experience in programming humanoid robots

Grading through:

• Oral examination

Responsible for this module:

• Prof. Dr.-Ing. Julia Starke

Teacher:

• Institute for Robotics and Cognitive Systems
• Prof. Dr.-Ing. Julia Starke

Literature:

• Murray, Li and Sastry : A mathematical introduction to robotic manipulation CRC Press 1994

Language:

Notes:

Last Updated:

24.01.2025