At Institute of Robotics (ROBIN) mathematical methods are developed for the modeling of complex mechanical systems, which serve as the basis for the analysis and synthesis and finally the model-based control. In doing so, ROBIN uses methods of multibody dynamics and nonlinear control theory and, if necessary, develops new methods and algorithms. As a result, highly efficient models and model-based control concepts for complex robotic systems are available, which lead directly to practical solutions. The research foci of ROBIN are optimal control (time and energy optimal) and force position control of industrial robots and flexible lightweight robots, optimal path planning for mobile robots, model-based control of novel parallel kinematics, control concepts for special applications as well as humanoids (running machines).