Robotics Research Lab

Biologically Inspired Robots 20/21

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

Monday 14:00 - 15:30

Wednesday 14:00 - 15:30

42-110

42-110

26.10.2020
INF-61-53-U-7 Exercise (irregular)

within lecture time slots

42-110

 

Streaming Link Lecture

https://livestream.uni-kl.de/?stream=42-110

Recordings of the streams are available for about 1 week under the following link: Panopto:Biobots
Due to still remaining technical issues of the university's central streaming service, it might happen that some of the lecture streams will not be recorded.

Video Conference Link Exercise

https://bbb.rlp.net/b/von-sqy-xn7-gpg

The accompanying exercise sessions of this lecture will be held as video conferences. Individual dates of these interactive discussion sessions will be published below next to the exercise downloads.
Please log in into the linked conference room in time before the session starts and prepare your solutions to be presented via screen sharing.

Lecture Material

Login with RHRK username and password.

01_introduction.pdf

02_mechatronics.pdf

03_control_methods.pdf

Exercises

Exercise_01.pdf (Discussion on Wed, 18/11/2020)

Exercise_02.pdf (Discussion on Wed, 02/12/2020)

Exercise_03.pdf (Discussion on Mo, 14/12/2020)

Contact Person

M. Sc. Patrick Vonwirth, Building 48-361

M. Sc. Sarwar Hussain Paplu, Building 48-369

Professor

Prof. Dr. Karsten Berns

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.

Requirement

  • 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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