Robotics Research Lab

Biologically Inspired Robots 19/20

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.

28.10.2019  01_introduction.pdf

30.10.2019  02_mechatronics.pdf ,

20.11.2019  03_control_methods.pdf , reinforcement_learning.pdf

08.01.2020  04_movement_control.pdf

15.01.2020  05_human_robot_interaction.pdf

22.01.2020  06_embodiment.pdf

22.01.2020  07_application.pdf


06.11.2019  sheet01.pdf

20.11.2019  sheet02.pdf

04.12.2019  sheet03.pdf

18.12.2019  sheet04.pdf

15.01.2020  sheet05.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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