Modeling and Control of Humanoid Walking Robots
This Module is offered by TUM Department of Electrical and Computer Engineering.
This module handbook serves to describe contents, learning outcome, methods and examination type as well as linking to current dates for courses and module examination in the respective
EI7257 is a semester module
in German or English language
at Master’s level
which is offered in winter semester.
This module description is valid from WS 2012/3 to SS 2014.
|Total workload||Contact hours||Credits (ECTS)|
Rigorous modeling, model properties and stability, simplified models for control; Introduction to biomechanics of human walking; Ground reference points in human walking: Zero Moment Point, Center of Pressure, Capture Point, Centroidal Moment Pivot; Walking pattern generation, Gait stabilization, preview control; Passive dynamic walking, limit cycles, poincare map; Performance criteria of walking machines.
The lecture teaches the basics for modeling and control of bipedal walking machines. The theoretical concepts are illustrated by practical application examples.
Bacis of automatic control and modeling of mechanical multi-body systems
Courses and Schedule
Learning and Teaching Methods
Lecture work sheets
Description of exams and course work
oral or written examination