376.082 Manipulation and Locomotion
This course is in all assigned curricula part of the STEOP.
This course is in at least 1 assigned curriculum part of the STEOP.

2023S, VU, 3.0h, 4.5EC
TUWELLectureTubeQuinn ECTS survey


  • Semester hours: 3.0
  • Credits: 4.5
  • Type: VU Lecture and Exercise
  • LectureTube course
  • Format: Presence

Learning outcomes

After successful completion of the course, students are able to...

  • compare and apply the most important methods for compliant motion control of robot manipulators.
  • realize algorithms for fault detection and disturbance observers.
  • compute a hierarchical controller for simultaneous execution of multiple tasks.
  • apply safety concepts for collaborative robots (cobots).
  • describe the most important model properties and control approaches for elastic robots.
  • understand the main template models and parameters for the analysis and control of legged robots.
  • describe at least two methods for gait generation of bipedal legged robots.

Subject of course

Advanced control approaches for manipulation and locomotion: Compliant Motion Control, Hybrid Force/Position Control, Cartesian impedance- and admittance control, Passivity-based adaptive control in robotics, FDIR (Fault Detection, Identification, and Recovery), Disturbance observers, robot safety, grasping, Micro-Macro-Manipulation, Hierarchic control of multiple tasks, Operational Space Formulation, Elastic robots, Template models  and ground reference points in locomotion: Zero Moment Point, Center-of-Pressure, Capture Point, Gait stabilization, Limit cycle analysis for passive dynamic walkers, Hybrid zero dynamics.

Teaching methods

The material is presented on the blackboard and with slides. To deepen, reinforce, and practically apply the material, computation exercises and simulations using the software Matlab/Simulink will be conducted.

Mode of examination




Course dates

Mon10:00 - 12:0006.03.2023 - 26.06.2023EI 5 Hochenegg HS Vorlesung
Manipulation and Locomotion - Single appointments
Mon06.03.202310:00 - 12:00EI 5 Hochenegg HS Vorlesung
Mon13.03.202310:00 - 12:00EI 5 Hochenegg HS Vorlesung
Mon20.03.202310:00 - 12:00EI 5 Hochenegg HS Vorlesung
Mon27.03.202310:00 - 12:00EI 5 Hochenegg HS Vorlesung
Mon03.04.202310:00 - 12:00EI 5 Hochenegg HS Vorlesung
Mon10.04.202310:00 - 12:00EI 5 Hochenegg HS Vorlesung
Mon17.04.202310:00 - 12:00EI 5 Hochenegg HS Vorlesung
Mon24.04.202310:00 - 12:00EI 5 Hochenegg HS Vorlesung
Mon01.05.202310:00 - 12:00EI 5 Hochenegg HS Vorlesung
Mon08.05.202310:00 - 12:00EI 5 Hochenegg HS Vorlesung
Mon15.05.202310:00 - 12:00EI 5 Hochenegg HS Vorlesung
Mon22.05.202310:00 - 12:00EI 5 Hochenegg HS Vorlesung
Mon05.06.202310:00 - 12:00EI 5 Hochenegg HS Vorlesung
Mon12.06.202310:00 - 12:00EI 5 Hochenegg HS Vorlesung
Mon19.06.202310:00 - 12:00EI 5 Hochenegg HS Vorlesung
Mon26.06.202310:00 - 12:00EI 5 Hochenegg HS Vorlesung

Examination modalities

The examination modalities contain the submission of exercises as well as the implementation of a control problem under supervision of the teaching assistants based on an existing scientific publication. The implementation and results of the control problem will be reported by a short written abstract and a short oral presentation.

Course registration

Not necessary


Study CodeObligationSemesterPrecon.Info
066 515 Automation and Robotic Systems Mandatory elective


No lecture notes are available.

Previous knowledge

Contents of the lecture "Foundations of Robotics"

Preceding courses

Continuative courses