Modeling and Control of Humanoid Walking Robots
Module EI7257
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 sections.
Basic Information
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) |
|---|---|---|
| 90 h | 28 h | 3 CP |
Content, Learning Outcome and Preconditions
Content
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.
Learning Outcome
The lecture teaches the basics for modeling and control of bipedal walking machines. The theoretical concepts are illustrated by practical application examples.
Preconditions
Bacis of automatic control and modeling of mechanical multi-body systems
Courses, Learning and Teaching Methods and Literature
Courses and Schedule
| Type | SWS | Title | Lecturer(s) | Dates | Links |
|---|---|---|---|---|---|
| VO | 2 | Modeling and Control of Humanoid Walking Robots |
Learning and Teaching Methods
ex-cathedra teaching
Media
Presentations
Literature
Lecture work sheets