Dynamics and Control of Legged Locomotion

Sommersemester 2021


Wir versuchen im gesetzlichen Rahmen und unter Einhaltung der Corona-Richtlinien soweit es möglich ist Präsenzveranstaltungen anzubieten. Diesbezüglich werden wir Sie rechtzeitig informieren.

Lecture Formate:

Students can either join a life Webex webcast during the regular lecture times or watch recordings afterwards. 

More information is available on the ILIAS-page of the course.
Please contact us if you need help getting access to ILIAS.

Lecture start:


Time & Location:

The lecture will be given online.
All video lessons and materials are available via ILIAS.



Course ID number:


The overarching goal of this class is to provide students with an overview of the current state of the art in the field of dynamics and control of legged (robotic) systems. To achieve this goal, the course will use and apply a large number of key theoretical principles of mechanical dynamics, including: multibody-dynamics, non-smooth dynamics, nonlinear-dynamics, limit cycles, orbital stability, continuation, and bifurcations. Using these concepts, students will learn about different gaits, the effects of scaling, modeling of legged systems, simple models of locomotion, passive dynamics, and limit-cycle locomotion. For students, this will provide a unique opportunity to experience how their theoretical dynamics knowledge can be put into practice. In addition, the class will cover a broad range of different control strategies for legged robots, including: Raibert’s controller (best known from Boston Dynamics’ Big Dog), control based on inverse kinematics (used in Little Dog), zero-moment point control (used in the Honda Asimo), capture points (used in the IHMC bipeds), virtual model control (used in RAMone), hybrid zero dynamics (used in Cassie Blue), as well as optimal control through multiple shooting and direct collocation.

All course material will be posted on ILIAS.

  • Oral Exam, duration 30 minutes.
  • Time and date arranged individually with instructor
  • Exam location Pf.9, Room 3.133 (Office Prof. Remy)
  • No electronic devices (calculator/laptop/phone)

See "Stellung im Studienplan"

Lehrveranstaltung in C@MPUS


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