The goal of this course is to give a practical introduction into simulation and optimization of motions in robotics and biomechanics. Simulation and optimization play an important role in generating and controlling motions in complex robotics systems and in predicting and analyzing motions of humans. Theory and methods will be covered, but the focus is on the use software tools for modeling, simulation, optimization and visualization of multibody systems. Topics covered include:

• Dynamic process modeling
• Transforming real world problems into mathematical models
• Modeling of complex robotics and biomechanics systems (e.g.  humanoids), based on previous modeling knowledge
• Common template models for bipedal walking and running in robotics and biomechanics
• Simulation of mechanical / robotics systems (Integrators and Initial value problems)
• Boundary value problems
• Nonlinear optimization problems
• Optimal control problems
• Direct and indirect methods for optimal control problems, focus on direct methods, especially direct multiple shooting
• Stability of dynamical systems, stability in biomechanics and robotics