- Safety in Electrical Engineering for a master´s degree (BEZM)
- The course cannot be taken simultaneously with:
- Humanoid robots (BE3M33HRO)
- Garant předmětu:
- Matěj Hoffmann
- Matěj Hoffmann
- Matěj Hoffmann, Jason Khoury, Shubhan Parag Patni, Jakub Rozlivek, Lukáš Rustler
- Department of Cybernetics
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.
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 - 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.
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.
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.
- Further information:
- Time-table for winter semester 2022/2023:
- Time-table is not available yet
- Time-table for summer semester 2022/2023:
Šrámkova posluchárna K9roomKN:E-132
Wed Thu Fri
- The course is a part of the following study plans:
- Cybernetics and Robotics (compulsory elective course)