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Modeling and Control of Humanoid Walking Robots

Module EI7257

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 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 workloadContact hoursCredits (ECTS)
90 h 28 h 3 CP

Content, Learning Outcome and Preconditions


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.


Bacis of automatic control and modeling of mechanical multi-body systems

Courses, Learning and Teaching Methods and Literature

Courses and Schedule

VO 2 Modeling and Control of Humanoid Walking Robots

Learning and Teaching Methods

ex-cathedra teaching




Lecture work sheets

Module Exam

Description of exams and course work

oral or written examination
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