Subject description - B3M33HRO

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B3M33HRO Humanoid robots
Roles:PV Extent of teaching:2P+2C
Department:13133 Language of teaching:CS
Guarantors:Hoffmann M. Completion:Z,ZK
Lecturers:Hoffmann M. Credits:6
Tutors:Hoffmann M., Chaloupecký T., Khoury J., Patni S., Rustler L. Semester:L

Web page:


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.

Course outlines:

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.

Exercises outline:

Students will work on assignments on the different topics.


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.


Ability to write computer programs in Python. Recommended: Basic knowledge of robot kinematics.


Humanoid robots, human-robot interaction

Subject is included into these academic programs:

Program Branch Role Recommended semester
MPBIO1_2018 Bioinformatics PV
MPKYR_2021 Common courses PV 2

Page updated 27.2.2024 12:52:25, semester: Z,L/2023-4, Z/2024-5, Send comments about the content to the Administrators of the Academic Programs Proposal and Realization: I. Halaška (K336), J. Novák (K336)