Lecture 02Lecture 05DateThursday 10.07Thursday 10.07 | What |
|---|---|
Thursday 10.04 | Lecture 01 |
Tuesday 15.04 | No Lecture or Tutorial |
Thursday 17.04 | Lecture 02 |
Tuesday 22.04 | Tutorial: Discussion Exercise Assignment 01 |
Thursday 24.04 | Lecture 03 |
Tuesday 29.04 | Tutorial: Discussion Exercise Assignment 02 |
Tuesday 06.05 | No Lecture or Tutorial, working on extended exercise Assignment 03 |
Thursday 08.05 | Lecture 04 |
Tuesday 13.05 | Tutorial: Discussion Exercise Assignment 03 |
Thursday 15.05 | Lecture 05 |
Tuesday 20.05 | Tutorial: Discussion Exercise Assignment 04 |
Thursday 22.05 | Lecture 06 |
Tuesday 27.05 | Tutorial: Discussion Exercise Assignment 05 |
Tuesday 03.06 | Lecture 07 |
Thursday 05.06 | Tutorial: Discussion Exercise Assignment 06 |
Tuesday 17.06 | Lecture 08 |
Tuesday 24.06 | Tutorial: Discussion Exercise Assignment 07 |
Thursday 26.06 | Lecture 09 |
Tuesday 01.07 | Tutorial: Discussion Exercise Assignment 08 |
Thursday 03.07 | Lecture 10 |
Tuesday 08.07 | Tutorial: Discussion Exercise Assignment 09 |
Thursday 10.07 | Lecture 11 |
Tuesday 15.07 | Tutorial: Discussion Exercise Assignment 10 |
Thursday 17.07 | Lecture 12 |
Tuesday 22.07 | Tutorial: Discussion Exercise Assignment 11 |
Master
Lecture Humanoid Robotics
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 sensing and perception, environment representations, active perception, inverse kinematics, motion planning, grasping, balance control, walking, and footstep planning.
Organization
- Lecturer: Prof. Dr. Maren Bennewitz
- Co-organizers: Subham Agrawal, Ahmed Shokry, and Nils Dengler
- Lectures: Thursdays 08:30–10:00 (s.t.), starting April 10, 2025
- Tutorials: Tuesdays 08:30–10:00 (s.t.), starting April 15, 2025
- The module counts for 6 ECTS-Points
- The lecture and the tutorial will take place in lecture hall 7, Friedrich-Hirzebruch Allee 5
Links:
Responsible HRL Lecturers:
EXAM DATES
- Exam: 18.08.2025 12:00 - 14:00 in HS1
- Exam: 23.09.2025 12:00 - 14:00 in HS IV, Meckenheimer Allee 176
Timetable
Slides
No. | Topic | Date | Slides |
|---|---|---|---|
1. | Introduction | April 10 | |
2. | 3D World Representations | April 17 | |
3. | Neural Fields | April 24 | |
4. | Active Perception | May 8 | |
5. | Fundamentals of Manipulation | May 15 | |
6. | Motion Planning for Manipulation | May 22 | |
7. | Grasping and Pushing | June 3 + June 17 | |
8. | Interactive Scene Exploration and Foundation Models | June 17 | |
9. | Locomotion: Kinematics & Dynamics | June 26 | |
10. | Locomotion: Control and Motion Planning | July 3 | |
11. | Locomotion: Footstep Planning and Realizing Motion Plans | July 10 | |
12. | Locomotion: Robot Learning | july 17 |
Assignments
No. | Topic | Date Published | Submission DEADLINE | Source | |
|---|---|---|---|---|---|
1. | Perception Basics | April 10 | April 17 | ||
2. | 3D World Representations | April 17 | April 24 | ||
3. | Neural Fields | April 25 | May 8 | ||
4. | Active Perception | May 9 | May 20 | ||
5. | Fundamentals of Manipulation | May 15 | May 20 | ||
6. | Motion Planning | May 23 | June 3 | ||
7. | Object Manipulation and Trajectory Generation | June 03 | June 17 | ||
8. | Perception for Grasping, Pushing, Interactive Perception and Foundation Models | June 17 | June 26 | ||
9. | Legged Robots Locomotion, Kinematics and Dynamics | June 26 | July 3 | ||
10. | Locomotion: Control and Motion Planning | July 3 | July 10 | ||
11. | Locomotion: Footstep Planning and Realizing Motion Plans | July 10 | July 17 | ||
12. | MOCKUP EXAM | July 10 | Discussion on July 17 in Lecture |