back to search

Modelling and Control of Legged Robots

CIT4330007Examination Performance6 ECTSEnglishsummer semesterDepartment Computer Engineering
AI-edited module sheet. Based on the TUMonline module description, edited for readability.Original in TUMonline

What it is about

You learn how to create models and develop control systems for swing- and floating-base-legged arms or walking robots (humanoids and quadrupeds). In the end you can build dynamic and kinematic models, design whole control loops (including full-body and gait control), and apply classical as well as optimal methods for gait control.

What you will be able to do

  • Analyze and create floating-base leg robot models
  • Design full-body controllers for humanoids and quadrupeds
  • Conceive gait drives and balance mechanisms
  • Develop gait controls with classical and optimal methods

What the module consists of

  • VorlesungVermittlung der theoretischen Grundlagen zu Modellierung, Stabilität, Regelung und Trajektorienoptimierung
  • Tutorien / TutorialsPraktische Vertiefung und Vorbereitung der Laboraufgaben
  • LaboraufgabenPrüfen und Festigen der technischen Fähigkeiten in numerischen Simulationen (ROS)
  • Projektarbeit (Teamprojekt)Anwendung aller erlernten Theorien und praktischen Fähigkeiten zur Implementierung eines kompletten Regelsystems für einen Beineroboter

Teaching method

  • Ex-cathedra VorlesungVermittlung der Theorie
  • Laboraufgaben in Simulation (ROS)Praktische Anwendung und Übung der Vorlesungsinhalte
  • Praktisches TeamprojektIntegration und Anwendung aller Inhalte auf einen realen oder simulierten Roboter
No dates in the current semester
There are no course dates for this module this semester, or they haven't been matched yet.

Module ratings

No ratings for this module yet.

Rate this module

Only fill in the categories you can judge – for each one, either stars and text together or nothing at all.

Lecture
Tutorial
Exam

Reviews are automatically checked before they are published.

Official page in TUMonline · Details are not binding.