Robotics Research Lab

Biologically Inspired Robots 18/19

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. Patrick Vonwirth, Geb. 48-361

Lectrue Material

Login with RHRK username and password.

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

26.10.2018   02_mechatronics.pdf , BiologicallyInspiredActuators.pdf ,

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


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 , , ,

16.01.2019   sheet06.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 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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