Master
Lecture Humanoid Robotics
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 sensing and perception, environment representations, active perception, inverse kinematics, motion planning, grasping, balance control, walking, and footstep planning.
Organization
- Lecturer: Prof. Dr. Maren Bennewitz
- Co-organizers: Rohit Menon, Subham Agrawal, Ahmed Shokry, Shahram Khorshidi, and Nils Dengler
- Lecture: Thursday 8:30 - 10:00 (but see detailed schedule below)
- Tutorials: Tueday 8:30 - 10:00
- The module counts for 6 ECTS-Points
- The lecture and the tutorial will take place in lecture hall 7, Friedrich-Hirzebruch Allee 5
Links:
COURSE REGISTRATION
Important: The registration deadline is over. We have finished assigning students to groups and created the gitlab projects with the corresponding students added. Please login into IGG GitLab to check your groups.
If there is an urgent request regarding the lecture please write an email to hr_exercises@hrl.uni-bonn.de
EXAM DATES
- Exam: August 19, 10am-12pm, Lecture halls II + IV, Meckenheimer Allee 176, Haupthaus
- Exam: September 29, 10am-12pm, Lecture hall IV, Meckenheimer Allee 176, Haupthaus
Slides
IMPORTANT: No Lecture on 11.06.2026 due to unavailabilty of the lecture hall
No. | Topic | Date | Slides |
|---|---|---|---|
1. | Introduction and Perception Basics | 16.04.2026 | |
2. | 3D World Representations | 23.04.2026 | |
3. | Active Perception | 30.04.2026 | |
4. | Fundamentals of Manipulation | 07.05.2026 | |
5. | Motion Planning for Manipulation | 19.05.2026 | |
6. | Trajectory Generation and Optimization | 02.06.2026 | |
7 | Grasping and Pushing | 18.06.2026 | |
8. | Visual Servoing and Interactive Perception | 25.06.2026 | |
9. | Locomotion: Kinematics & Dynamics | 02.07.2026 | |
10. | Locomotion: Control and Motion Planning | 09.07.2026 | |
11. | Locomotion: Footstep Planning and Realizing Motion Plans | 16.07.2026 | |
12. | Locomotion 4 and Mock-Up Exam Discussion | 23.07.2026 |
Exercise Sheets
Important: Only Sheets 3, 6, and 9 are graded and 50% overall points required to be eligible for the exam. All other sheets are voluntary and are intended to help you understand the lecture content. We therefore highly recommend completing all sheets to prepare for the exam.
Sheet No. | Date Published | Submission DEADLINE | Discussed in Tutorial | Source | |
|---|---|---|---|---|---|
1. | 16.04.2026 | Not Applicable | 28.04.2026 | ||
2. | 23.04.2026 | Not Applicable | 05.05.2026 | ||
3. | 30.04.2026 | 07.05.2026 (10:00) | 12.05.2026 | Not Applicable | |
4. | 07.05.2026 | Not Applicable | 21.05.2026 | ||
5. | 19.05.2026 | Not Applicable | 09.06.2026 | ||
6 | 02.06.2026 | 18.06.2026 (10:00) | 23.06.2026 | ||
7. | 18.06.2026 | Not Applicable | 30.06.2026 | ||
8. | 25.06.2026 | Not Applicable | 07.07.2026 | ||
9. | 02.07.2026 | 09.07.2026 (10:00) | 14.07.2026 | ||
10. | 09.07.2026 | Not Applicable | 21.07.2026 | ||
11. | 16.07.2026 | Not Applicable | 21.07.2026 | ||
Mockup-Exam | 16.07.2026 | Not Applicable | 23.07.2026 |
Please upload ONLY your graded assignments sheets to your repository on https://gitlab.igg.uni-bonn.de. (For sheet 01, wait until your groups are assigned and a group repository is created)