263-5806-00L  Computational Models of Motion

SemesterSpring Semester 2021
LecturersS. Coros, M. Bächer, B. Thomaszewski
Periodicityyearly recurring course
Language of instructionEnglish



Courses

NumberTitleHoursLecturers
263-5806-00 VComputational Models of Motion2 hrs
Wed14:15-16:00HG E 1.2 »
S. Coros, M. Bächer, B. Thomaszewski
263-5806-00 UComputational Models of Motion2 hrs
Thu16:15-18:00ML F 40 »
S. Coros, M. Bächer, B. Thomaszewski
263-5806-00 AComputational Models of Motion3 hrsS. Coros, M. Bächer, B. Thomaszewski

Catalogue data

AbstractThis 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
ObjectiveStudents 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.
ContentOptimal 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.
Prerequisites / NoticeExperience with C++ programming, numerical linear algebra and multivariate calculus. Some background in physics-based modeling, kinematics and dynamics is helpful, but not necessary.

Performance assessment

Performance assessment information (valid until the course unit is held again)
Performance assessment as a semester course
ECTS credits8 credits
ExaminersS. Coros, M. Bächer, B. Thomaszewski
Typeend-of-semester examination
Language of examinationEnglish
RepetitionA repetition date will be offered in the first two weeks of the semester immediately consecutive.
Mode of examinationwritten 90 minutes
Additional information on mode of examinationThe grade will be determined by:

50% mandatory assignments
50% final written exam
Written aidsNone

Learning materials

 
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Offered in

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Computational Science and Engineering BachelorElectivesWInformation
Computational Science and Engineering MasterElectivesWInformation
Robotics, Systems and Control MasterCore CoursesWInformation