Stelian Coros: Catalogue data in Spring Semester 2020

Name Prof. Dr. Stelian Coros
FieldComputational Robotics
Computergestützte Robotik
ETH Zürich, WWA H 22
Wasserwerkstrasse 10 / 12
8092 Zürich
Telephone+41 44 632 02 15
DepartmentComputer Science
RelationshipAssociate Professor

263-5806-00LComputational Models of Motion for Character Animation and Robotics Information 6 credits2V + 2U + 1AS. Coros, M. Bächer, B. Thomaszewski
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.