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Humanoide Roboter (ehem. Robotik)


This course gives an introduction to robotics, with a particular interest in humanoid robots. It presents different methods for programming robots to perform tasks that involve sensory-motor interactions. The participants of the course will have the opportunity to apply their knowledge in the Praktikum Robotik and program robots for different tasks.

  1. Introduction
  2. Mathematical model
    1. 1. Transformations kinematics
    2. 2. Inverse kinematics
    3. 3. Differential kinematics
    4. 4. Dynamics
  3. Control
    1. 1. Sensors
    2. 2. Actuators
    3. 3. PID controller
    4. 4. Vision-based control
  4. Biologically inspired robots
    1. 1. Legged robots
    2. 2. Locomotion
    3. 3. Humanoid robots
    4. 4. Central Pattern Generator
    5. 5. Generation of whole-body motion patterns
  5. Navigation
  6. Social robotics
  7. Perceptual robotics
  8. Roboethics

Learning outcomes: Basic practical knowledge for robot control, task acquisition, motion generation, and sensory-motor interaction in robotics.

General Information

Please send me your name, matriculation number, and university login (only username) in order to register you for Praktikum and the course mailing list.

Dear students, I am providing a backup lecture on Tuesday 11th February at 10 A.M. ( Room 1/368A )

Prerequisites: Basic knowledge of Mathematics.


The oral exam duration is 25-minutes

Date and time for the oral exam:

March 2nd & March 6th

Student list for the oral exam:

March 2nd:

10:30 - A. Munirathinam

11:00 - P.K. Shaw

11:30 - A. Sampathkumar

12:00 - M. Kuchenreuther


March 6th:

10:30 - A. Moussa

11:00 - L. Rosenbaum

11:30 - S. Li

12:00 - D. Escher


Useful links

Handbook of Robotics


Lecture Slides

Will be provided/Updated after each lecture.

Introduction to robotics

Transformation Matrices

Forward Kinematics

Inverse Kinematics

Velocity Kinematics

Velocity Kinematics (part 2)