2400135 – Humanoid Robots – Locomotion and Whole-Body Control

This course introduces fundamentals and recent developments in the field of humanoid robotics with a focus on locomotion and whole-body motions. We will cover kinematic and dynamic modeling of anthropomorphic systems, basic concepts of bipedal walking control, stability aspects, gait generation in different terrains, humanoid balance and push recovery, motion primitives and optimal control-based approaches, motion imitation and learning. The course will also give some insights in basic principles of passive dynamic walking, human motion generation and control and human motion modeling. Students will work with different robotics tools and perform a graduate level research project related to a whole-body humanoid robot. This module is complementary to the course “4.290 Robotik II - Humanoide Robotik” which focuses on upper body motions and cognitive architectures while this course focuses on the specific aspects of legged humanoids and whole-body motions. The modules can be taken at the same time. The first class in SS 2025 will take place on Thursday, April 24 at 11:30.