Humanoid robots

Relations:

It is not possible to register for the course BE3M33HRO if the student is concurrently registered for or has already completed the course B3M33HRO (mutually exclusive courses).

During a review of study plans, the course B3M33HRO can be substituted for the course BE3M33HRO.

In order to register for the course BE3M33HRO, the student must have registered for the course BEEZM no later than in the same semester.

It is not possible to register for the course BE3M33HRO if the student is concurrently registered for or has previously completed the course B3M33HRO (mutually exclusive courses).

Course guarantor:

Matěj Hoffmann

Lecturer:

Matěj Hoffmann

Tutor:

Matěj Hoffmann, Tomáš Chaloupecký, Jason Khoury, Shubhan Parag Patni, Lukáš Rustler

Supervisor:

Department of Cybernetics

Synopsis:

The course focuses on human-centered robotics: humanoid robots and human-robot interaction. Motivated by the vision of robot companions in our homes, this course introduces humanoid robot technology and its specific challenges and opportunities: (i) design, kinematics and inverse kinematics of humanoids, (ii) multimodal sensing - vision, touch, hearing, inertial sensing, etc., (iii) walking and balancing, and (ii) grasping. The second part of the course centers on human-robot interaction (HRI), which includes physical HRI (safety aspects, collaborative robots) and cognitive/social HRI - how to design robots and behaviors to be acceptable for people.

Requirements:

Ability to write computer programs in Python.

Recommended: Basic knowledge of robot kinematics.

Syllabus of lectures:

1. Humanoid robots - motivation and history.

2. Humanoids - Design, Forward kinematics, Closed-form inverse kinematics.

3. Humanoids - Differential Kinematics, Inverse diff. kinematics, Singularities, Manipulability, Gaze control.

4. Live demos.

5. Multi-modal sensing and calibration.

6. Grasping.

7. Walking and balancing.

8. Human-robot interaction: introduction, physical and social interaction.

9. Physical interaction I: Legislation and standards. Speed and separation monitoring.

10. Physical interaction II: Human injury. Impact modeling. Power and force limiting.

11. Social interaction I.

12. Social interaction II.

13. Reactive motion control and planning for human-populated environments.

14. Embodied AI, baby humanoids, learning brain-like robot body models.

Syllabus of tutorials:

Students will work on assignments on the different topics.

Study Objective:

Study materials:

Nenchev, D. N., Konno, A., & Tsujita, T. (2018). Humanoid robots: Modeling and control. Butterworth-Heinemann. Available as e-book through the CTU library.

Additional literature

Goswami, A., & Vadakkepat, P. (Eds.). (2019). Humanoid robotics: A reference. Springer.

Bartneck, C., Belpaeme, T., Eyssel, F., Kanda, T., Keijsers, M., & Šabanović, S. (2020). Human-robot interaction: An introduction. Cambridge University Press.

Note:

Further information:

https://cw.fel.cvut.cz/wiki/courses/hro/start

Time-table for winter semester 2024/2025:

Time-table is not available yet

Time-table for summer semester 2024/2025:

	06:00–08:0008:00–10:0010:00–12:0012:00–14:0014:00–16:0016:00–18:0018:00–20:0020:00–22:0022:00–24:00
Mon
Tue	roomKN:E-301 Hoffmann M. 12:45–14:15 (lecture parallel1) Karlovo nám. roomKN:E-s109 Khoury J. Patni S. 14:30–16:00 (lecture parallel1 parallel nr.101) Karlovo nám. roomKN:E-132 Khoury J. Patni S. 14:30–16:00 (lecture parallel1 parallel nr.101) Karlovo nám.
Wed
Thu
Fri

The course is a part of the following study plans:

• Cybernetics and Robotics (compulsory elective course)