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., Patni S., Rozlivek J., Rustler L., Švarný P. 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) 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.

Course outlines:

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.

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 C++, Matlab, and Python. Basic knowledge of robot kinematics in the span of bachelor course B3B33ROB1.


Humanoid robots, human-robot interaction

Subject is included into these academic programs:

Program Branch Role Recommended semester
MPKYR_2021 Common courses PV 2

Page updated 27.1.2023 09:51:19, semester: Z/2022-3, L/2021-2, Z/2024-5, L/2022-3, Send comments about the content to the Administrators of the Academic Programs Proposal and Realization: I. Halaška (K336), J. Novák (K336)