Robotics Research Lab

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Biologically Inspired Robots 21/22

INF-61-53-V-7 Biologically Motivated Robots3V

Monday 14:00 - 15:30

Wednesday 14:00 - 15:30



INF-61-53-U-7Exercise (irregular)

within lecture time slots




Face-to-Face Lecture !

Both, lecture and exercise sessions will be held as face-to-face courses maintaining the hygiene requirements of the university.
It's mandatory to wear a mask within the lecture rooms as well as checking in with a valid 3G-Intake-Code.

Live Stream of the Lectures

Both our lecture rooms are equipped with livestream-technique and are available at lecture times via the following links

  13-305 :

  42-110 :

There will be no lecture recordings being available !


Lecture Material

Login with RHRK username and password.


02_mechatronics_1.pdf   02_mechatronics_2.pdf

03_control_methods_1.pdf   03_control_methods_2.pdf   03_reinforcement_learning.pdf





Exercise_01.pdf (Discussion: Mo, 15.11.2021)

Exercise_02.pdf (Discussion: Mo, 29.11.2021)

Exercise_03.pdf (Discussion: We, 15.12.2021)

Exercise_04.pdf (Discussion: We, 12.01.2022)

Exercise_05.pdf UPDATED! (Discussion: We, 02.02.2022)


Exercise_06.pdf (Discussion incl. Q&A-Session: We, 09.02.2022)

Contact Person

M. Sc. Patrick Vonwirth, Building 48-361

M. Sc. Sarwar Paplu, Building 48-369


Prof. Dr. Karsten Berns


The lecture "Biologically Motivated Robots" (BioBots) deals with systems whose mechanical construction, sensor concepts, and control methods have been inspired by nature. The following topics will be covered:

  • Status of research and requirements for the development of BioBots
  • Sensor systems, sensor fusion and driving concepts
  • Adaptive control (neural networks, fuzzy-control, Reinforcement-Learning, genetic algorithms and neuro-oscillators) and Behaviour based control architectures
  • Skills of humanoid robots (locomotion, manipulation, mimics, perception, interaction)
  • Application for BioBot

This course is partly build upon the lecture "Foundations of Robotics". The content of this lecture is assumed to be well known.


  • Bachelor degree in computer science
  • Core module of the LG Embedded Systems and Robotics

Precondition for examination

  • Exercises
  • Final oral examination


  • Webb, B. and Consi, T. R. (2001). Biorobotics. MIT Press.
  • Hirose, S. (1993). Biologically inspired Robots - Snake-Like Locomoters and Manipulators. Oxford Sciens Publications.
  • Song, S.-M. and Waldron, K. J. (1989). Machines That Walk: The Adaptive Suspension Vehicle. The MIT Press, Cambridge, Massachusetts
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