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

 

Literature

We compiled a list of literature recommendations on the individual topics for further reading.

 

Schedule

Next lectures and tutorials:

  • 25 July: Lecture 11: Summary and repetition for the exam
  • 27 July: Tutorial: Discussion of assignment sheet 9
  • 31 July, 1 August: oral exams

 

Exam

Requirements for taking part in the exam: 50% of reachable points from the assignments; working in groups of 2-3 students is possible.

Dates for the oral exams:

  • First exam: July 31 / August 1
  • Second exam: September 20

Please register for the exam in BASIS until June 21.

 

Slides

No. Topic Date Slides
0 Introduction April 20 [PDF]
1 Linear algebra April 24 [PDF]
2 Least squares and odometry calibration April 20, April 27 [PDF]
3 Projective geometry and homogeneous coordinates April 27 [PDF]
4 Camera parameters April 27, May 18 [PDF]
5 Whole-body self-calibration May 18 [PDF]
6 3D representations May 18, May 23 [PDF]
7 Monte Carlo localization June 1 [PDF]
8 Path planning and walking June 22, June 29 [PDF]
9 Inverse kinematics and whole-body motion planning June 29, July 6 [PDF]
10 Bag-of-words models and appearance-based mapping July 6, July 13 [PDF]
11 Statistical testing July 20 [PDF] (now complete)

 

Assignments

No. Topic Date published Submission deadline PDF
1 GIT, linear algebra April 20 April 27 [PDF]
2 Odometry calibration, projective geometry April 27 May 11 [PDF]
3 Forward kinematics May 18 May 26 [PDF]
4 3D representations May 23 June 1 [PDF]
5 ICP, localization June 1 June 16 [PDF]
6 Path planning June 22 June 29 [PDF]
7 Anytime repairing A*, zero moment point June 29 July 6 [PDF]
8 Inverse kinematics, RRT July 6 July 13 [PDF]
9 Inverse reachability maps July 13 July 20 [PDF]