Optimization, Robotics and Biomechanics (ORB)
The research focus of the Optimization, Robotics & Biomechanics (ORB) group is on modeling, optimization and simulation of dynamic motions of anthropomorphic systems, i.e. humans, humanoid robots, exoskeletons and virtual human characters. From a mathematical perspective, 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. We also develop efficient tools to set up realistic dynamical optimization models of humans, robots and other technical devices including rigid multibody system models, muscle models and neural control.
Our research projects cover the following topics:
- optimization of humanoid walking motions in different terrains
- human movement understanding & identification of underlying objective functions of human motions in different situations
- generation of fast human-like walking, running, jumping, diving and other gymnastics motions stability optimization of human and robot motions study of
- characteristics of pathological gait in orthopedics and of walking motions with prostheses, orthoses and functional electrical stimulation
- optimization of the design and control of exoskeletons
- optimization of physically assistive devices for the elderly
- trajectory optimization for robots
- studies of artistic and emotional aspects of dynamic motions and development of art robots
- investigation of processes related to cognition and orientation during locomotion and traffic interaction
- optimal control studies of manipulation combining motor control and biomechanical modeling approaches
Our interdisciplinary research creates bridges between scientific computing and many other disciplines, such as robotics, engineering, biomechanics, medicine, orthopedics, sports, computer graphics, cognitive sciences, and art.
Our current research focus is the development of intelligent mobility assistance devices for the elderly as part of the project "HeiAge".
Team
Dr. Alexander Schubert (team lead)
Institut für Technische Informatik (ZITI)
Im Neuenheimer Feld 368, room 520
69120 Heidelberg
Tel: +49 6221 54 16351
Email: alexander.schubert [at] ziti.uni-heidelberg.de
Sarah Englert (administrative assistant)
Institut für Technische Informatik (ZITI)
Im Neuenheimer Feld 368, room 421
69120 Heidelberg
Tel: +49 6221 54 16401
Email: orbsec [at] ziti.uni-heidelberg.de
Dr. Lizeth Sloot (PostDoc)
Institut für Technische Informatik (ZITI)
Im Neuenheimer Feld 368, room 521
69120 Heidelberg
Tel: +49 6221 54 16342
Email: lizeth.sloot [at] ziti.uni-heidelberg.de
see also: FG Computational Biomechanics
Prof. Dr. Marko Ackermann (visitig from FEI Sao Paolo)
Institut für Technische Informatik (ZITI)
Im Neuenheimer Feld 368, room 521
69120 Heidelberg
Tel: +49 6221 54 16342
Email: marko.ackermann [at] ziti.uni-heidelberg.de
Giorgos Marinou (PhD candidate)
Institut für Technische Informatik (ZITI)
Im Neuenheimer Feld 368, room 522
69120 Heidelberg
Tel: +49 6221 54 16382
Email: giorgos.marinou [at] ziti.uni-heidelberg.de
Felix Aller (PhD candidate)
Institut für Technische Informatik (ZITI)
Im Neuenheimer Feld 368, room 522
69120 Heidelberg
Tel: +49 6221 54 16382
Email: felix.aller [at] ziti.uni-heidelberg.de
Nikita Sharma (PhD candidate, co-opted from the Computational Biomechanics group)
Institut für Technische Informatik (ZITI)
Im Neuenheimer Feld 368, room 522
69120 Heidelberg
Tel: +49 6221 54 16382
Email: nikita.sharma [at] ziti.uni-heidelberg.de
Wolfgang Stumpfs (technician)
Institut für Technische Informatik (ZITI)
Im Neuenheimer Feld 368, room 523
69120 Heidelberg
Email: wolfgang.stumpfs [at] ziti.uni-heidelberg.de
Felix Richter (system administrator)
Institut für Technische Informatik (ZITI)
Im Neuenheimer Feld 368, room 523
69120 Heidelberg
Email: wolfgang.stumpfs [at] ziti.uni-heidelberg.de
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