Beinroboter

What it is about

You will learn the modeling and control of leg-based robots (one-, two- and four-legged systems) as well as advanced control approaches such as model predictive control and whole-body control. In the end you will be able to create dynamic models and design control algorithms for different legged robots and apply them practically in simulations and experiments.

What you will be able to do

• kinematic and dynamic modeling of legged robots
• design and implementation of control algorithms for locomotion
• application of model predictive control
• application of whole-body control
• transfer of methods to different dynamic robotic systems

What the module consists of

• Seminar / VorlesungIntroduction to concepts and algorithms; in-person event with recordings
• Praktische Übungen / LaborSimulations and experiments on real robotics platforms to implement what was learned
• HausaufgabenFive individual exercises (theory and programming), graded and part of the overall grade
• AbschlussprojektCapstone project to demonstrate an independently developed, systematically worked-out result

Teaching method

• Präsenzseminare und praktische Übungendirect exchange and conducting experiments on site
• Aufzeichnungen (BBB)Enable follow-up work, serve as a supplement to in-person participation
• Simulationen und reale RobotikexperimenteFor applying and validating the learned modeling and control approaches