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Photo von Lutz Winkler

Dr.-Ing. Lutz Winkler

group: CoMiRo - Collective and MicroRobotics
phone: +49 721 608-47133
fax: +49 721 608-47141
winklerEpn0∂kit edu


Modulare Selbst-Rekonfigurierbare Roboter

Modulare, self-rekonfigurierbare Roboter sind autonome Maschinen die ihre Gesamtkonfiguration verändern können, indem sie Teile ihres Organismus an eine andere Stelle eigenständig umsetzen können um sich an neue Gegebenheiten oder neue Aufagben anzupassen oder um sich selbst zu reparieren. 


Multirobotersysteme die sich aus vielen autonomen Robotern zusammensetzen. Hierbei basiert die Steuerung der Systeme auf Selbstorganisationseffekten, welche durch lokale Kommunikation und Stigmergie zu stande kommen.

Research Areas

Modular Self-Reconfigurable Robotics

Modular, self-reconfigurable robots are autonomous machines which can change their morphology by rearranging the connectivity of their parts, in order to adapt to new circumstances, perform new tasks, or recover from damage.

Swarm Robotics

Multi-robot systems composed of many autonomous robots. The control of the system is based on self-organization, which is accomplished by local communication and stigmergy.


Swarm Robotics, Modular Self-Reconfigurable Robotics, Simulation
Sechsbeiniger Roboterorganismus
sechsbeiniger Roboterorganismus
SMIS - Logo
Robot3D Screenshot
Robot3D Screenshot
Wanda Schwarmroboter
Wanda Swarm Robots
Heterogener Organismus
Heterogeneous Organism
Evolvierter Organismus
Evolved Symbricator Organism
The Modular Robot Symbricator
I-SWARM Mikroroboter
I-SWARM Microrobot
Jasmine Schwarmroboter
Jasmine Swarm Robot

Open Source Project Robot3D

Since 2010. Robot3D(formerly known as Symbricator3D) is an Open-Source project which has been developed within the European projects REPLICATOR and SYMBRION. Aim of that platform is to simulate swarm robots as well as modular self-reconfigurable robots. The simulation environment is modular in such a way that different applications and experiments can be integrated. Within the European projects the platform is used to investigate bio-inspired algorithms, such as hormone-based controllers or the evolution of robot organisms, as well as engineered algorithms, such as cognitive sensor fusion.

To the Robot3D website: here.

EU-Project SYMBRION Enlarged EU

Since 2010. It is an extension to the SYMBRION project to improve the simulations.

Wanda Project

Since 2009. The Wanda swarm robot is a successor of the Jasmine robot. Marc Szymanski and Alexander Kettler have developed it within the KIT-CoRoL project. At the IPR there are numerous robots available including an arena for different swarm experiments. 


Since July 2008.  This project's goal is the research and development of new principles of adaption and evolution for organisms that may consist of a huge amount of single robots. Therefore large-scale swarms of robots are to be enabled to aggregate to a complex organism. Inside of such an artificial life form it is desired for energy and computing resources to be distributed among the single entities, just like in a symbiosis, as each single robot only provides very limited amounts of resources and capabilities. By aggregating to a bigger organism, complex challenges that cannot be coped with by single robots or even swarms of those, may be solvable then. 

The projects REPLICATOR and SYMBRION are tightly connected as they use the same robot platforms. In the SYMBRION project biological related questions are of interest. The REPLICATOR project aims more for the technical realization. More.

To the website: here.


Since July, 2008. This project focuses on the development of an advanced robotic system, consisting of a large-scale swarm of autonomous mobile robots that are capable of self-assembling into artificial organisms. These robotic organisms possess common energy and information buses as well as reliable legged, wheeled or climbing locomotions, based on modular subsystems which can be autonomously reconfigured. Thanks to the heterogeneity of the elementary robots and their capability to share resources and to communicate, the robotic organisms are able to achieve large computational power, and rich close- and far-range sensing. The energy is autonomously harvested from external power sources.

The main goal of the project is to develop novel principles underlying these robotic organisms, such as self-configuration, self-adjustment and self-learning. The bio-inspired evolutionary approaches and evolvable hardware structures adopted in this project enable the robotic organisms to emerge new functionalities, to develop their own cognitive and control structures and, finally, to work autonomously in uncertain situations without any human supervision.

A possible application of these robotic organisms is to build autonomous sensor networks, capable of self-spreading and self-maintenance in open-ended, even hazardous, environments, due to the organism's extremely adaptive, robust, and scalable capabilities. With over fifty scientists from eight different European countries, the REPLICATOR and SYMBRION projects are together the largest research project in the field of modular robotics in the world. More.

To the website: here.

EU-Project I-Swarm

Okt, 2007 - Juni 2008. The aim of the I-SWARM Project was the development of miniaturized robots with an edge length of 3mm. The IPR was involved with the design and the implementation of the control for those robots. More.

Open Robot Project JASMINE

This project started as a subproject of the I-Swarm-project. Its aim was the development of an open robotics platform for swarm experiments, swarm games et cetera.


In the media

Quarks und Co - Das Geheimis des Schwarms (WDR 10.04.2007)

hitec - Die geheimen Baupläne der Natur (3SAT 20.01.2008)


In den Medien

Quarks und Co - Das Geheimis des Schwarms (WDR 10.04.2007)

hitec - Die geheimen Baupläne der Natur (3SAT 20.01.2008)


2013Lutz Winkler and Sergej Neumann and Heinz Wörn
2013Jens Liedke and Lutz Winkler and Heinz Woern
2013Andreas Bihlmaier, Lutz Winkler and Heinz Wörn
2013Jens Liedke and Rene Matthias and Lutz Winkler and Heinz Wörn
2012Lutz Winkler and Vojtech Vonasek and Heinz Wörn and Libor Preucil
2011Lutz Winkler and Heinz Wörn and Adrian Friebel
2011Schmickl, Thomas and Stradner, Jürgen and Hamann, Heiko and Winkler, Lutz and Crailsheim, Karl
2011Lutz Winkler and Alexander Kettler and Marc Szymanski and Heinz Wörn
2010Lutz Winkler and Heinz Wörn
2009Lutz Winkler and Heinz Wörn
2009M. Szymanski, L. Winkler, D. Laneri, F. Schlachter, A.C. van Rossum, T. Schmickl, R. Thenius
2008S. Kernbach, E. Meister, F. Schlachter, K. Jebens, M. Szymanski, J. Liedke, D. Laneri, L. Winkler, T. Schmickl, R. Thenius, P. Corradi, L. Ricotti