Humanoid robots

The course is not on the list Without time-table
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:
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 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.

Further information:
No time-table has been prepared for this course
The course is a part of the following study plans:
Data valid to 2024-05-18
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