Home Teaching SS21 Lecture Humanoid Robotics Lecture Humanoid Robotics (MA-INF 4215)

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, localization, footstep planning, walking, and motion planning.

 

Organization

Exercises

To attend the mandatory exercise please sign up until the first tutorial on Tuesday the 27th of April by following the below steps:

  • Create an account on our GitLab server (https://gitlab.igg.uni-bonn.de/users/sign_in).
    Important: You have to use your "@uni-bonn.de" e-mail address! If you do not have one, please contact us immediately.
  • You are allowed to form groups of up to 3 students. However, you can also submit your solutions as a single-person group.
  • Send us one mail per group with the following content:
    • The full name of each group member
    • The e-mail address of each group member
    • The username of each group member on our Gitlab server
    • If your group consists of less than three students, let us know if you are willing to be combined with other groups. Without other instructions from your side, we will combine your group to have at least two students in each group.

Literature

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

Schedule

The course schedule for the semester is available here. The first lecture will be on April 22, 8.30-10.00 via Zoom.

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 exams:

  • First exam: tba
  • Second exam: tba

Please register for the exam in BASIS until tba.

 

Slides

No. Topic Date Slides
0 Introduction April 22 [PDF]
1 Linear Algebra April 22 [PDF]
2 Least squares and odometry calibration April 22 [PDF]
3 Homogeneous coordinates April 29 [PDF]
4 Camera parameters - part 1 & 2 April 29, May 6 [PDF]
5 Whole-Body Self-Calibration May 6 [PDF]
6 3D World Representations - part 1 May 6 [PDF]

Changelog:

  • Re-uploaded slide No. 2 (Least squares and odometry calibration): Fixed Typo on slide 22
  • Re-uploaded slide No. 3 (Homogeneous coordinates): Fixed Typo on slide 24
  • Re-uploaded slide No. 4 (Camera parameters): Added part 2

Assignments

No. Topic Date published Submission deadline PDF
1 GIT, linear algebra April 22 April 29 [PDF]
2 Odometry calibration April 29 May 6 [PDF]
3 Projective geometry May 6 May 18 [PDF]