Stelian Coros: Katalogdaten im Frühjahrssemester 2020

NameHerr Prof. Dr. Stelian Coros
LehrgebietComputergestützte Robotik
Adresse
Computergestützte Robotik
ETH Zürich, WWA H 22
Wasserwerkstrasse 10 / 12
8092 Zürich
SWITZERLAND
Telefon+41 44 632 02 15
E-Mailstelian.coros@inf.ethz.ch
URLhttp://crl.ethz.ch/index.html
DepartementInformatik
BeziehungAusserordentlicher Professor

NummerTitelECTSUmfangDozierende
263-5806-00LComputational Models of Motion for Character Animation and Robotics Information 6 KP2V + 2U + 1AS. Coros, M. Bächer, B. Thomaszewski
KurzbeschreibungThis course covers fundamentals of physics-based modelling and numerical optimization from the perspective of character animation and robotics applications. The methods discussed in class derive their theoretical underpinnings from applied mathematics, control theory and computational mechanics, and they will be richly illustrated using examples ranging from locomotion controllers and crowd simula
LernzielStudents will learn how to represent, model and algorithmically control the behavior of animated characters and real-life robots. The lectures are accompanied by programming assignments (written in C++) and a capstone project.
InhaltOptimal control and trajectory optimization; multibody systems; kinematics; forward and inverse dynamics; constrained and unconstrained numerical optimization; mass-spring models for crowd simulation; FEM; compliant systems; sim-to-real; robotic manipulation of elastically-deforming objects.
Voraussetzungen / BesonderesExperience with C++ programming, numerical linear algebra and multivariate calculus. Some background in physics-based modeling, kinematics and dynamics is helpful, but not necessary.