Humanoid robots

Corequisite:

Safety in Electrical Engineering for a master´s degree (BEEZM)

The course cannot be taken simultaneously with:

Humanoid robots (B3M33HRO)

The course is a substitute for:

Humanoid robots (B3M33HRO)

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 K9roomKN:E-132 Rozlivek J. Švarný P. 16:15–17:45 (lecture parallel1 parallel nr.101) Karlovo nám. Laboratoř PC
Wed
Thu
Fri

The course is a part of the following study plans:

• Cybernetics and Robotics (compulsory elective course)