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CZECH TECHNICAL UNIVERSITY IN PRAGUE
STUDY PLANS
2023/2024
UPOZORNĚNÍ: Jsou dostupné studijní plány pro následující akademický rok.

Humanoid robots

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Code Completion Credits Range Language
B3M33HRO Z,ZK 6 2P+2C Czech

In order to register for the course B3M33HRO, the student must have registered for the course BEZM no later than in the same semester.

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

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

The requirement for course B3M33HRO can be fulfilled by substitution with the course BE3M33HRO.

Garant předmětu:
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 2023/2024:
Time-table is not available yet
Time-table for summer semester 2023/2024:
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-s109
Khoury J.
Patni S.

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

Karlovo nám.
Laboratoř ŘS
roomKN:E-132

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

Karlovo nám.
Laboratoř PC
roomKN:E-132
Khoury J.
Patni S.

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

Karlovo nám.
Laboratoř PC
Wed
Thu
Fri
The course is a part of the following study plans:
Data valid to 2024-05-18
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