Biologically Inspired Robots 18/19
| Nr. | Titel | SWS | date | room | Begin |
|---|---|---|---|---|---|
| INF-61-53-V-7 | Biologically Motivated Robots | 3V | 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) | 1Ü | 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 degreein computer science
- Coremodule of theLGEmbedded 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