Biological Cybernetics

This repository contains projects (for practical modules) and concept maps (for theoretical modules) of the biological cybernetics lecture.

Projects

In the soft robotics project, my project partner and I developed a soft robotic heart, that is actuated via an air pump:

In the simulation practice module, we carried out multibody simulations, where we implemented different control concepts (PID, bioinspired) in Matlab/Simulink:

Furthermore, we learned to train a quadruped agent to walk via reinforcement learning:

Folder Structure

│projectdir
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├── concept_maps                 <- Concept maps for the theoretical modules
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├── simulation_practice          <- Matlab/Simulink models
│   ├── multibodySim_PIDcontrol  <- Multibody simulation and ideal torque control concept
│   ├── muscleImplementation     <- Muscle implementation and bioinspired control concept
│   ├── reinforcementLearning    <- Self-learning control of robots with artificial intelligence
│   ├── projectReport.pdf        <- Report for the three simulation_practice projects
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├── softRobotics_heart           <- Project report and Blender file
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├── README.md