Michael Koch

Michael Koch, Dr.-Ing.

curriculum vitae

  • 2009 Dipl.-Ing. in Mechanical Engineering, University of Kaiserslautern
  • 2009 – 2011 PhD student, Computational Dynamics and Control, University of Kaiserslautern
  • 2011 – 2015 PhD student, Chair of Applied Dynamics, Friedrich-Alexander-Universität Erlangen-Nürnberg
  • 2015 Dr.-Ing. in Engineering, Friedrich-Alexander-Universität Erlangen-Nürnberg



reviewed journal publications





conferences and proceedings







further publications


  • Simulation and optimal control of the dynamics of multibody systems in biomechanics and robotics

    (Third Party Funds Single)

    Term: 2008-12-01 - 2011-12-01
    Funding source: DFG-Einzelförderung / Emmy-Noether-Programm (EIN-ENP)

    Simulation is of great importance when studying everyday or athletic motions with regard to improvements in ergonomics and performance. In particular for medical problems like analysing gait or optimising prostheses as well as for planning robot manoeuvres, simulation is often the only way to estimate the actuating and applied forces and torques. An approximate solution can only be as accurate as the underlying numerical method represents the system’s characteristic properties. If, for example, the energy required to perform a motion is a criterion of interest, the use of an energy consistent method is crucial. In purely forward dynamical simulations, here mechanical integrators are widely accepted. This project aims to develop and investigate new efficient and robust methods for the dynamic optimisation of movements that guarantee the inheritance of the real solution’s relevant properties by the approximated solution. The developed methods are applied to varying fields. Multirate integrators are developed that simulate different system parts with individual time steps saving computational time while accuracy remains unchanged. To realistically simulate motions of the human arm, Hill-type muscle models actuate the limbs. A semi-analytic algorithm approximating the muscle path allows its use in optimal control problems with physiologically motivated cost functions. Everyday motions like operating a steering wheel or lifting a weight, as well as sports motions like long throw and shot put, are optimised. Another main point is the simulation of the lower extremities. The modelled limbs are actuated by joint torques and contact problems where inelasticities and friction are taken into account. Monopedal jumping and human gait are investigated. Changing between open and closed kinematic loops (double stance phase versus swing phase) is described by different holonomic constraints that are active or passive in different phases. For the example of optimising a pole vault, the introduced method is applied to a flexible multibody system. It is shown that the developed methods are very effective and flexible and therefore a variety of problems can be investigated ranging from robotics over everyday human motion to athletics’ high performance motions.


Working group (AG)

Instructions for scientific work (AWA)

Lecture (VORL)

  • Biomechanics

    Prüfung schriftlich 60 Minuten.

    • Grundkenntnisse Mathematik
    • Modul 'Statik und Festigkeitslehre'
    • 2 SWS; ECTS studies (ECTS credits: 2,5)
    • Date:
      • Wed 12:15-13:45, Room H10 (exclude vac) ICS
  • Statics and Strength of Materials

    Vorlesung, Übung und Tutorium werden gemeinsam geprüft und kreditiert. Prüfung schriftlich 90 Minuten.

    • 3 SWS; Early study; ECTS studies (ECTS credits: 7,5)
    • Date:
      • Tue 08:15-09:45, Room H7 (exclude vac) ICS
      • Wed 08:15-09:45, Room H7 (exclude vac) ICS

Seminar (SEM)

Lecture with exercise (V/UE)

  • Geometric numerical integration

    Some exercises will be in Online format

    Lectures with integrated exercises and programming exercises, Guest students welcomed. Lectures and exercises will be evaluated and credited jointly.

    • 4 SWS; Allowed for guest students; ECTS studies (ECTS credits: 5,0), Lecture's language English
    • Date:
      • Tue 12:15-13:45, Room H17 Maschinenbau (exclude vac) ICS
      • Wed 12:15-13:45, Room SR TM (exclude vac) ICS

Internship (PR)

  • Praktikum Matlab

    • 4 SWS; Expected participants: 100; ECTS studies (ECTS credits: 2,5)
    • Date:
      • Mon 12:00-14:00, Room H15 (exclude vac) ICS
      • Mon 12:00-18:00, Room CIP-Pool MB Konrad-Zuse-Str. 3 (exclude vac) ICS

Exercise (UE)

Tutorial (TUT)

Other courses (SL)