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CZECH TECHNICAL UNIVERSITY IN PRAGUE
STUDY PLANS
2021/2022

Humanoid robots

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Code Completion Credits Range Language
B3M33HRO Z,ZK 6 2P+2C Czech
Corequisite:
Safety in Electrical Engineering for a master´s degree (BEZM)
The course cannot be taken simultaneously with:
Humanoid robots (BE3M33HRO)
Lecturer:
Matěj Hoffmann (guarantor)
Tutor:
Matěj Hoffmann (guarantor), Shubhan Parag Patni, Jakub Rozlivek, Lukáš Rustler, Petr Švarný
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) walking and balancing; (ii) reaching, grasping, and bimanual coordination; and (iii) multimodal sensing - vision, touch, hearing, inertial sensing, etc. 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 C++, Matlab, and Python.

Basic knowledge of robot kinematics in the span of bachelor course B3B33ROB1.

Syllabus of lectures:

1. Humanoid robots I: introduction - why humanoids?

2. Humanoid robots II: walking and balancing.

3. Humanoid robots III: reaching, grasping and bi-manual coordination.

4. Multi-modal perception - vision, touch, hearing, inertial sensing.

5. Advanced grasping: from parallel grasps to robotic hands with multiple fingers.

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

7. Physical interaction I: human-friendly robot design.

8. Physical interaction II: safety, relevant norms and applications in practice.

9. Physical interaction III: collaborative regimes based on ISO/TS 15066.

10. Physical interaction IV: robot control for interaction.

11. Motion planning for environments with people.

12. Social interaction I: introduction.

13. Social interaction II: case studies.

14. Learning from demonstration, kinesthetic teaching.

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 2021/2022:
Time-table is not available yet
Time-table for summer semester 2021/2022:
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.
Šrámkova posluchárna K9
roomKN:E-132
Rozlivek J.
Švarný P.

14:30–16:00
(lecture parallel1
parallel nr.101)

Karlovo nám.
Laboratoř PC
roomKN:E-132
Rozlivek J.
Švarný P.

16:15–17:45
(lecture parallel1
parallel nr.102)

Karlovo nám.
Laboratoř PC
Wed
Thu
Fri
The course is a part of the following study plans:
Data valid to 2022-08-14
For updated information see http://bilakniha.cvut.cz/en/predmet6652106.html