Home Teaching SS20 Robot Lab

Lab Humanoid Robots (MA-INF 4214)

Robots are versatile systems, that provide vast opportunities for active research and various operations. Humanoid robots, for example, have a human-like body, and thus can act in environments designed for humans. They are able to, e.g., climb stairs, walk through cluttered environments, and open doors. Mobile robots with a wheeled base are designed to operate on flat grounds to perform, e.g., cleaning and service tasks. Robotic arms are able to grasp and manipulate objects.

Participants will work in group of 2 or 3 on one of the possible topics. 

At the end of the semester each group will give a presentation and demonstration of their project accompanied by oral moderation. The whole presentation should be approximately 10 minutes long. Every member of the group should present his/her part in the development of the system in a few sentences/slides. When the presentation is complete, each group will be asked a few questions by the HRL staff members or preferably the other students. Everyone is required to be present and to watch the presentation of the other groups.

Aside from the final demonstration, every group is required to submit a lab report. The report is due on the morning before the demonstration. Please describe the task you had to solve, in what ways you approached the solution, what parts your system consists of, special difficulties you may have encountered, and how to compile and use your software. Please include a sufficient number of illustrations. Apart from the content, there are no formal requirements to this document. It is sufficient to submit one lab report per group, it must be be pushed to the group's git repository before the lab presentation.

The grade of the lab will depend on the final presentation and how well the assigned task was solved.

 

Changes due to Covid-19

As per University guidelines, until further notice, all communications will take place electronically. The Introductory Meeting on 22.04.2020 is going to take place over video conference for all participants. Communications between supervisor and participant will also be via electronic means such as email or other remote methods agreed upon by both parties.

In past semesters, students were required to work with actual robot hardware in one of our labs. However, due to current circumstances, that is no longer possible. Hence, we will be providing all students with robot simulation software. Using this, the students will be able to program and execute their approach virtually. 

System requirements : Under the present circumstances, participants are expected to have Ubuntu Linux installed on their personal computers. The specific requirements for each project are quoted below. 

The final presentation will also take place remotely over video conference, with all other rules remaining the same. Participants will be required to make a presentation (slides) and demonstrate the complete task live within the simulation software.

A return to normalcy is also possible during the course of the semester. In that case, participants will have access to both our lab PCs and the physical robots. The final presentation will be within the University premises and the students will have to present a live demo of the complete project on the physical robots.

 

Contact:

 

Important dates:

All interested students should attend the introductory meeting. In the introductory meeting, we will present the topics, the schedule, the registration process, and answer your questions.

Wednesday, 22.04.2020, 11:00 - 12:00
Introductory meeting (slides)
Thursday, 14.05.2020, 12:00 Registration deadline and topic selection on our website
Friday, 15.05.2020, 23:59 Registration deadline in BASIS (updated)
Monday, 28.09.2020 Lab presentation and deadline for lab documentation

 

Registration

The registration on the HRL website will open on 22.04.2020 after the introductory meeting. You can specify your choice of projects there. Please note that dates are liable to change in case of further notices from the university administration. For information regarding BASIS, please see here. The schedule for the final presentation will be announced in due time.

 

Topics:

You can choose between the following topics:

 

Soccer


simulation_humanoid.pngsoccer_pic.jpeg

In this project, two yellow goal posts and a uniformly colored ball are placed on the ground. The robot has to detect the goal posts and the ball with its built-in camera, walk to the ball, and score a goal by kicking the ball in between the goal posts. Students develop their code using a robot simulator before moving on to running the program on a real robot. A software framework that includes the simulation as well as a communication interface with the real robot is provided.

Focus: computer vision, motion editing, navigation
Programming language: C++

System requirements: Ubuntu Linux (14.04 or higher)

 

 

Turtlebot

turtlelab.pngturtlebot_image.png
In this project, a mobile robot shall find an uniformly colored object in a closed labyrinth. The robot has to detect the surrounding walls using the built-in depth cameras to navigate collision-free to the unknown position of the object. Students develop their code using a robot simulator before moving on to running the program on a real robot. A software framework that includes the simulation as well as a communication interface with the real robot is provided.

Focus: computer vision, navigation, mapping
Programming language: C++

System requirements: Ubuntu 18.04

 

 

Robot arm

simulation_arm.pngrobo_arm_image.png
In this project, you learn how to program a robot arm to sort objects into a cup. The objects need to be detected in the sensor image and distinguished from the cup. The arm needs to be moved to pick up the object and to drop it into the cup while avoiding collisions. Students develop their code using a robot simulator before moving on to running the program on a real robot. A software framework that includes the simulation as well as a communication interface with the real robot is provided.

Focus:motion editing, computer vision
Programming language: C++

System requirements: Ubuntu Linux (14.04 or higher)