Robotics Research Lab

Biologically Inspired Robots 18/19

Nr.TitelSWSdateroomBegin
INF-61-53-V-7 Biologically Motivated Robots3V

Monday 13:45 - 15:15

Wednesday 13:45 - 15:15

48-453

46-280

22.10.2018
INF-61-53-U-7 Exercise (14 days)

Wednesday 13:45 - 15:15

46-280

 

 

Professor

Prof. Dr. Karsten Berns

Contact Person

M. Sc. Patrick Vonwirth, Geb. 48-361

Lectrue Material

Login with RHRK username and password.

22.10.2018   01_introduction.pdf , Hardware-Software-for-Humanoids.pdf , history.zip

26.10.2018   02_mechatronics.pdf , BiologicallyInspiredActuators.pdf , artificial_muscles.zip

15.11.2018   03-control-methods_nn_I.pdf  , reinforcement_learning.pdf

07.01.2019   04_movement-control.pdf

14.01.2019   05-human-robot-interaction.pdf

28.01.2019   06-embodiment.pdf

28.01.2019   07-application.pdf

Exercises:

31.10.2018   sheet01.pdf

14.11.2018   sheet02.pdf

21.11.2018   sheet03.pdf

29.11.2018   sheet04.pdf

07.01.2019   sheet05.pdf , ex_biped.zip , ex_climbing.zip , ex_underwater.zip

16.01.2019   sheet06.pdf

Content

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.

Requierment

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

Precondition for examination

  • Exercises
  • Final oral examination

Literature

  • 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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