Inhalt Hotkeys



Wintersemester 2018

Vorlesung: Dienstag, 13.30 - 15.00, 1/305, (Dr. J. Nassour)


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

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

General Information

Please send me your name, immatriculation number, and university login (only username) in order to provide you the access to the lecture slides and to register you for Praktikum.

Prerequisites: Basic knowledge of Mathematics.


25-minutes oral exam.

Date and time for oral exam:
Exams will be administered in July 16th 2018

Student list for oral exam:


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)