Prof. Dr. Katja Mombaur
Head of Optimization, Robotics and Biomechanics Chair and of Robotics Lab
Part of ZITI - Institute of Computer Engineering of Heidelberg University
External Member of IWR - Interdisciplinary Center for Scientific Computing of Heidelberg University
Address
Ruprecht-Karls-Universität Heidelberg
Optimierung, Robotik & Biomechanik (ORB)
Institut für Technische Informatik (ZITI)
Mathematikon B - 3rd floor - room L.100
Berliner Str. 45
D- 69120 Heidelberg
Ph. +49-6221-54-14870 (-14872)
Fax +49-6221-54-14898
email: katja.mombaur (at) iwr.uni-heidelberg.de, kmombaur (at) uni-hd.de
Research interests
Human motion
s
- Modeling of human motions
- Identification of optimality criteria of human motion
- Dynamic stability of human motions
- Change of human motions by age and different pathologies
- Emotional body language in human motions
- Optimal motions in sports (running, diving, gymnastics)
- Human locomotion trajectories (asymmetry properties, role of the head, ...)
Human motions in medical technology & rehabilitation
- Optimization-based design of exoskeletons
- Modeling, optimization and analysis of human motions with prostheses
- Functional electrical stimulation for hemiplegic patients
- Physical assistive devices for elderly people
Robotics
- Offline and online optimal control of humanoid motions
- Improving walking motions of humanoid robots
- Transferring principles of human motions to humanoid robots
- Robot benchmarking
- Open-loop stable walking and running of simple robots
- From human to humanoid yoyo playing
- Art Robots
- Optimal trajectories for UAVs
Mathematical Methods
- Optimal control of hybrid dynamical systems
- Inverse optimal control
- Combination of optimal control methods with movement primitives and learning methods
- Stability optimization
- Eigenvalue optimization
- Multi-body system modeling
- Musculoskeletal modeling
- Repetitive and iterative learning control
For more details, see Research
Teaching
I teach different courses within the studies of Applied Computer Science, Computer Engineering, Mathematics and Scientific Computing at Heidelberg University. A detailed overview on current and previous teaching activities is given here.
Other scientific activities
- Organization of many conferences and workshops, see here for details
- Organization of public events, see here
- Founding co-chair of IEEE RAS Technical committee on Model-based optimization for Robotics
- Member of advisory board of EU projects H2R and CoDyCo
- Member of the Kuratorium of M2OLIE research campus
- Scientific Reviewing and editorial tasks
University services
- Member of University Council (Universitätsrat), University of Heidelberg (2006 - 2008)
- Member of the Senate's Committee for Quality Improvement in Education (SBQE) (since 2015)
- Member of Selection Committee Master Applied Computer Science (since 2012)
- Member of Selection Committee Master Scientific Computing (since 2015)
- Member of Studienkommission Master Scientific Computing (since 2015)
- Member of Prüfungskommission Master Scientific Computing (since 2016)
- Member of many appointment committees at the department and the University (since 2005)
Short CV
Professional Experience
- since 2010: W3-Professor at University of Heidelberg at IWR (2010 - 2017) and at the Institute of Computer Engineering (since 2017)
- 2008 - 2010: Visiting Scientist at LAAS-CNRS, Toulouse, Dept. of Robotics and Artifical Intellgence (RIA) Gepetto group
- 2003 - 2008: Lecturer and junior research group leader "Optimization in Robotics and Biomechanics" at IWR, University of Heidelberg
- 2002: Postdoc at the Robotics Lab, Seoul National University, Seoul, South Korea
- 1997 - 2001: Scientific assistant (Wissenschaftl. Angestellte) at IWR, University of Heidelberg1995 - 1997Systems Engineer and Technical Sales Representative at IBM Germany1991-1992Internship at Denro, Gaithersburg, USA
Education
- 1997-2001 Ph.D. studies at the University of Heidelberg
- 2000 Research stay at Cornell University
- 1989 - 1995 Studies of Aerospace engineering at the University of Stuttgart (Diploma/Master's degree) grade: "sehr gut", specialization in engineering mechanics and fluid mechanics
- 1993 - 1994 Integrated Studies at the Ecole Nationale Supérieure de l'Aéronautique et de l'Espace in Toulouse , France (Sup'Aéro", Grande Ecole groupe A)
- 1989 Abitur, Humboldtgymnasium Solingen
Scholarships and Awards
- 2015 - 2016 Marsilius-Fellowship University of Heidelberg
- 2006 - 2008 Eliteförderprogramm by the Foundation Landesstiftung Baden-Württemberg
- 2004 Klaus-Georg und Sigrid Hengstberger Prize, University of Heidelberg
- 2003 - 2006 Margarete von Wrangell-Scholarship by the State of Baden-Württemberg
- 2003 Postdoc Scholarship of International Graduiertenkolleg IGK 710
- 1993 - 1994 Scholarship German/French Association of Higher Education (DFHK)
- 1989 - 1995 Scholarship Stiftungsfonds IBM Germany