Dynamics and Control of Legged Locomotion

Sommersemester 2020

News

Die Universität Stuttgart hat am 16. März 2020 Sofortmaßnahmen gegen die Verbreitung des Corona Virus festgelegt.
Sie finden diese auf der Corona-Webseite der Universität.

Aus diesem Grund werden die Vorlesungen virtuell durchgeführt. Informationen dazu finden Sie auf der ILIAS-Seite des Kurses.  Bitte kontaktieren Sie uns wenn Sie Fragen haben oder sich nicht auf Ilias einloggen können.

 

Lecture Formate:

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

You can access the lectures at the regular times using this link: https://unistuttgart.webex.com/unistuttgart/j.php?MTID=m67ae46f4d5c45ba107c8f8b063370fd7.

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

Lecturer:

Prof. Dr. Remy

Lecture Support:

Dr. Steve Heim

heim.steve@gmail.com

Lecture start:

Tuesday
04/21/2020, 11:30 am

Time & Location:

Tuesday, 11:30 a.m - 1:00 p.m, Webex

Language:

English

Course ID number:

340843100

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

Kontakt

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