Lecture Humanoid Robotics (MA-INF 4215)

Humanoid robots are currently an active research platform. Since they have a human-like body plan they can act in environments designed for humans. Humanoid robots are able to, e.g., climb stairs, walk through cluttered environments, manipulate objects, and open doors.

This lecture covers techniques for humanoid robots such as perception, navigation, motion planning, grasping, and human motion analysis.

Organization

 

Exam (second  round)

The second round of oral exams will take place on October 5 in LBH room I.44.

Exam

The oral exams will take place on August 26 and 29 and on September 1 in LBH room I.44.

 

Slides

No. Topic Date Slides
0 Introduction April 19 [PDF]
1 Linear Algebra April 21 [PDF]
2 Least squares and odometry calibration April 28 [PDF]
3 Projective geometry and homogeneous coordinates May 10 [PDF]
4 Camera parameters May 10 [PDF]
5 Whole-body self calibration May 24 [PDF]
6 3D world representations May 24, June 2 [PDF]
7 Monte Carlo localization June 9, June 16 [PDF]
8 Path planning and walking June 16, June 23 [PDF]
9 Statistical testing June 30 [PDF]
10 Whole-body motion planning July 7, July 14 [PDF]
11 Bag-of-words models and appearance-based mapping July 14 [PDF]

Assignments

No. Topic Date published Submission deadline PDF
1 GIT, linear algebra April 21 April 28 [PDF]
2 Odometry calibration April 28 May 6 [PDF]
3 Projective geometry May 12 May 24 [PDF]
4 Forward kinematics, octrees, k-d trees May 25 June 2 [PDF]
5 Signed distance function, ICP June 2 June 9 [PDF]
6 Particle filter June 9 June 16 [PDF]
7 Path planning and footstep planning with A* June 16 June 23 [PDF]
8 Anytime Repairing A* (ARA*) June 23 June 30 [PDF]
9 Statistical testing June 30 July 7 [PDF]
10 Inverse kinematics, RRT July 7 July 14 [PDF]
11 Reachability maps July 14 July 21 [PDF]

 

Literature for further reading

Topic Literature Links
robotics in general Probabilistic Robotics.
S. Thrun, W. Burgard, and D. Fox.
Cambridge, Mass.: MIT Press, 2006. ISBN: 978-0-262-20162-9.
[ULB] [www]
least squares Any textbook on numeric analysis or optimization. Follow the links for a list of books available in the University Library. [ULB English] [ULB German]
projective geometry

Multiple View Geometry in Computer Vision. Chapters 2-3: Projective Geometry and Transformations of 2D/3D.
R. Hartley and A. Zisserman.
Cambridge: Cambridge University Press, 2004, ISBN: 978-0-521-54051-3.

[ULB], fulltext available

Photogrammetry I. Chapter 14: Homogeneous Coordinates.
C. Stachniss. Lecture material, University of Bonn, 2016.

[slides] [lecture recording]

camera calibration Multiple View Geometry in Computer Vision. Chapter 6: Camera Models.
R. Hartley and A. Zisserman.
Cambridge: Cambridge University Press, 2004, ISBN: 978-0-521-54051-3
[ULB], fulltext available
Photogrammetry I. Chapter 15: Camera Extrinsics and Intrinsics.
C. Stachniss. Lecture material, University of Bonn, 2016.
[slides] [lecture recording]
humanoid calibration Whole-Body Self-Calibration via Graph-Optimization and Automatic Configuration Selection.
D. Maier and M. Bennewitz.
Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2015.
[PDF]

Camera-Based Humanoid Robot Navigation. Chapter 2: Whole-Body Self-Calibration.
Daniel Maier.
PhD thesis, University of Freiburg, 2015.

[PDF]

3D world models Multi-Level Surface Maps for Outdoor Terrain Mapping and Loop Closing.
R. Triebel, P. Pfaff, and W. Burgard.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2006.
[PDF]

OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees.
A. Hornung, K.M. Wurm, M. Bennewitz, C. Stachniss, and W. Burgard.
Autonomous Robots, 2013.

[PDF]

Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions.
E. Bylow, J. Sturm, C. Kerl, F. Kahl, and D. Cremers.
Proceedings of Robotics: Science and Systems (RSS), 2013.
[PDF]
Continuous Humanoid Locomotion over Uneven Terrain using Stereo Fusion.
M. F. Fallon, P. Marion, R. Deits, T. Whelan, M. Antone, J. McDonald, and R. Tedrake.
Proceedings of the IEEE-RAS International Conference on Humanoid Robotics (HUMANOIDS), 2015.
[PDF]
ICP A method for registration of 3-D shapes.
P.J. Besl and N.D. McKay.
IEEE Transactions on Pattern Analysis and Machine Intelligence, 1992.
[PDF]
Efficient Variants of the ICP Algorithm.
S. Rusinkiewicz and M. Levoy.
Proceedings of the International Conference on 3D Digital Imaging and Modeling, 2001.
[PDF]
Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration.
K.-L. Low.
Technical Report, University of North Carolina, 2004.
[PDF]
Camera-Based Humanoid Robot Navigation. Chapter 5: 3D Footstep Planning Among Clutter.
Daniel Maier.
PhD thesis, University of Freiburg, 2015.
[PDF]
6D localization for humanoid robots

Humanoid Robot Navigation in Complex Indoor Environments. Chapter 3: Monte Carlo Localization for Humanoid Robots.
Armin Hornung.
PhD thesis, University of Freiburg, 2014.

[PDF]
path planning

Anytime Search-Based Footstep Planning with Suboptimality Bounds.
A. Hornung, A. Dornbush, M. Likhachev, and M. Bennewitz.
Proceedings of the IEEE-RAS International Conference on Humanoid Robotics (HUMANOIDS), 2012.

[PDF]

ARA*: Anytime A* with provable bounds on suboptimality.
M. Likhachev, G. Gordon, and S. Thrun.
Advances in Neural Information Processing Systems (NIPS), 2004.

[PDF]

Introduction to Humanoid Robotics. Chapter 3: ZMP and Dynamics.
S. Kajita, H. Hirukawa, K. Harada, and K. Yokoi.
Springer, 2014. ISBN: 978-3-642-54535-1.

[ULB]
Search-based planning library (SBPL).
Search-based Planning Lab, Carnegie Mellon University, Pittsburgh.
Open-source library and ROS package.
[www] [ROS]
Footstep planning implementation based on SBPL.
J. Garimort and A. Hornung, Humanoid Robots Lab, University of Freiburg.
Open-source ROS package.
[ROS]
Zero-Moment Point (ZMP)

Introduction to Humanoid Robotics. Chapter 3: ZMP and Dynamics.
S. Kajita, H. Hirukawa, K. Harada, and K. Yokoi.
Springer, 2014. ISBN: 978-3-642-54535-1.

[ULB]
inverse kinematics

Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped Least methods.
S.R. Buss, University of California, 2009.

[PDF]
Rapidly-exploring Random Trees (RRT)

RRT-Connect: An Efficient Approach to Single-Query Path Planning.
J. Kuffner and S. LaValle.
Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2000.

[PDF]
whole-body motion planning

Whole-Body Motion Planning for Manipulation of Articulated Objects.
F. Burget, Armin Hornung, and M. Bennewitz.
Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2013.

[PDF]
Inverse Reachability Maps (IRM)

 

Stance Selection for Humanoid Grasping Tasks by Inverse Reachability Maps.
F. Burget and M. Bennewitz.
Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2015

[PDF]

Robot Placement based on Reachability Inversion.
N. Vahrenkamp, T. Asfour, and R. Dillmann.
Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2013

[PDF]
statistical testing

Empirical Methods for Artificial Intelligence. Chapter 4: Hypothesis Testing and Estimation.
P.R. Cohen.
Cambridge: MIT Press, 1995, ISBN: 978-0-262-03225-4.

[ULB]