Lehrinhalte

Humanoid robots are versatile systems, that are not tailored to a specific task, but instead aim to mimic human appearance and capabilities to a certain extent in order to act in a world made for humans and interact with humans. This comes with its own set of scientific problems. In this lecture, we will discuss the specific research questions in the design and control of humanoid robots. Starting with the hardware design, we look at biomechanics and discuss the transfer of human kinematics into robotic mechatronics. Further, we look into walking and grasping with humanoid robots. We look into the human gait cycle and then discuss the dynamics and control of legged walking. We discuss the challenges of grasping with five-fingered hands and study grasp planning and control. Finally, we look into task and action planning and motion learning from human demonstration.

The lecture is held in German, but the slides are provided in English.