Ruprecht-Karls-Universität Heidelberg
Optimization in Robotics and Biomechanics

Martin Felis

PhD Student

Research topic: 3D Modeling and Optimization of Emotional Locomotion


Ruprecht-Karls-Universität Heidelberg
Interdisziplinäres Zentrum für Wissenschaftliches Rechnen
Speyerer Strasse 6
D- 69115 Heidelberg

Ph. +49-6221-54-4983
Fax +49-6221-54-8790

email: martin.felis (at)

Research interests

  • non-linear optimization
  • optimal control
  • rigid body dynamics
  • screw theory
  • biomechanics
  • optimality criteria of human motion
  • character animation


RBDL - the Rigid Body Dynamics Library

A library that contains some essential rigid body dynamics library such as the Articulated Body Algorithm (ABA) for forward dynamics, Newton-Euler Algorithm for inverse dynamics and the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix.

Source Repository:

K. Mombaur,
Last Update: 12.09.2013 - 18:02

The photographs in the header of this webpage have been taken at the Musee de l'Automate in Souillac, France