Home Teaching SS23 Lecture Humanoid Robotics Lecture Humanoid Robotics (MA-INF 4215)

Lecture Humanoid Robotics (MA-INF 4215)

Humanoid robots are currently an active research platform. Since they have a human-like body plan they can act in environments designed for humans. Humanoid robots are able to, e.g., climb stairs, walk through cluttered environments, manipulate objects, and open doors.

This lecture covers techniques for humanoid robots such as perception, localization, footstep planning, walking, and motion planning.



  • Lecturer: Prof. Dr. Maren Bennewitz
  • Co-organizers: Murad Dawood, Subham Agrawal, and Nils Dengler
  • Lectures: Thursdays 08:30–10:00 (s.t.), starting April 13, 2023
  • Tutorials: Tuesdays 08:30–10:00 (s.t.), starting April 18, 2023
  • The module counts for 6 ECTS-Points
  • The lecture and the tutorial will take place in lecture hall 7


To attend the mandatory exercise please sign up until the first tutorial on Tuesday the 18th of April by following the below steps:

  • Create an account on our GitLab server (https://gitlab.igg.uni-bonn.de/users/sign_in).
    Important: You have to use your "@uni-bonn.de" e-mail address! If you do not have one, please contact us immediately.
  • You are allowed to form groups of up to 3 students. However, you can also submit your solutions as a single-person group.
  • Send us one mail per group with the following content:
    • The full name of each group member
    • The e-mail address of each group member
    • The username of each group member on our Gitlab server
    • If your group consists of less than three students, let us know if you are willing to be combined with other groups. Without other instructions from your side, we will combine your group to have at least two students in each group.
  • The repositories will be assigned and finalized until 17.04.2023

Registration for external students (H-BRS)

If you are not a student of the university Bonn, please fill THIS form and sent it signed to:

Informatik VI, Secretary, Friedrich-Hirzebruch-Allee 5, 53115 Bonn

The form must be received by us no later than June 9th. We do not accept scanned documents, because the signature needs to be original.


Requirements for taking part in the exam: 50% of reachable points from the assignments; working in groups of 2-3 students is possible.

Dates for the exams:

  • TBD

Please register for the exam in BASIS until June 21 (see also the informations on exam registration).



No. Topic Date Slides
0 Introduction April 13 pdf
1 Linear Algebra April 13 pdf
2 Least squares and odometry calibration April 20 pdf
3 Homogeneous coordinates April 20 pdf
4 Camera parameters April 27 pdf
5 Whole-Body Self-Calibration April 27 pdf
6 3D World Representations - part 1 May 04 pdf
7 3D World Representation, 6D Localization May 11 pdf, pdf
8 Footstep Planning May 23 pdf
9 Bipedal Walking: Open-Loop Walking June 6 pdf
10 Bipedal Walking: Balance Control June 15 pdf
11 IK and Whole-Body Motion Planning June 22 pdf
12 Foresighted Robot Navigation in Human Environments June 29 pdf
13 Summary July 6 pdf
14 Introduction to and Applications of Reinforcement Learning July 13 pdf



No. Topic Date published Submission deadline PDF
1 GIT, linear algebra April 13 April 20 pdf
2 Odometry Calibration April 20 April 27 pdf
3 Projective Geomtery April 27 May 4 pdf
4 Forward Kinematics May 4 May 11 pdf
5 3D Representations, ICP May 11 May 23 pdf, pdf
6 Particle Filter, A* Path Planning and Footstep Planning May 23 June 6 pdf,pdf
7 Anytime Repairing A* and Bipedal Walking June 6 June 15 pdf
8 Bipedal Walking June 15 June 22 pdf
9 RRT and Inverse Kinematics June 22 June 29 pdf
10 IRM June 29 July 6 pdf