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:
https://cw.fel.cvut.cz/wiki/courses/hro/startAnotation:
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.Literature:
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.Requirements:
Ability to write computer programs in Python. Recommended: Basic knowledge of robot kinematics.Keywords:
Humanoid robots, human-robot interaction Subject is included into these academic programs:| Program | Branch | Role | Recommended semester |
| MPKYR_2021 | Common courses | PV | 2 |
| MPBIO1_2018 | Bioinformatics | PV | – |
| Page updated 16.4.2024 05:51:19, 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) |