Robotics Research Lab

Biologically Inspired Robots 17/18

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

Monday 13:45 - 15:15

Wednesday 13:45 - 15:15



INF-61-53-U-7 Exercise (14 days)

Wednesday 13:45 - 15:15





Prof. Dr. Karsten Berns

Contact Person

M. Sc. Qi Liu

Lectrue Material

Login with RHRK username and password.

23.10.2017    01_introduction.pdf

13.11.2017    02_mechatronics.pdf

20.11.2017    03-control-methods_nn_I.pdf , , 2017-12-11.pdf

04.12.2017    04_movement-control.pdf

18.12.2017    05-human-robot-interaction.pdf

08.01.2018    06-embodiment.pdf       


14.11.2017    sheet01.pdf , solutions01.pdf , slides_solutions01.pdf

22.11.2017    sheet02.pdf , slides_solutions02.pdf

04.12.2017    sheet03.pdf , slides_solutions03.pdf , reinforcement_learning.pdf

15.01.2018    sheet04.pdf , slides_solutions04.pdf

22.01.2018    sheet05.pdf ,

31.01.2018    sheet06.pdf , exercise_6_discussion.pdf


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 degreein computer science
  • Coremodule of theLGEmbedded 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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