Ruprecht-Karls-Universität Heidelberg
Optimization in Robotics and Biomechanics

Optimization in Robotics and Biomechanics

The research focus of the ORB group is on modeling, optimization and simulation of dynamic motions of anthropomorphic systems, i.e. humans, humanoid robots, and virtual human characters. We are particularly interested in the application and development of efficient numerical optimal control, inverse optimal control and non-smooth optimization techniques for complex hybrid dynamical system models. Our research projects include the generation of fast human-like running, jumping and diving motions, the stability optimization of human and robot motions, the study of pathological gait in orthopedics, as well the identification of underlying objective functions of human motions in different situations. We are also interested in the study of artistic and emotional aspects of dynamic motions and the processes related to cognition and orientation during locomotion. Our interdisciplinary research creates bridges between scientific computing and many other disciplines, such as robotics, engineering, biomechanics, orthopedics, sports, computer graphics, and cognitive sciences.  


The ORB group in June 2015


 Former group pictures





K. Mombaur,
Last Update: 12.11.2015 - 17:32

The photographs in the header of this webpage have been taken at the Musee de l'Automate in Souillac, France