Home Teaching WS2021 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.

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. 

Covid-19

The Introductory Meeting on 10.11.2020, room 0.016 is planned to take place in person in a room at the university building. Communications during the semester between supervisor and participant will be conducted via electronic means. Presence phases in our lab to work with the real robot are possible. The final presentation will also take place in person while respecting the directives of the university which comprise wearing a mask, keeping a minimal distance of 1.5 meters, and documenting the names of persons who take part in a meeting. Changes to these directives will be announced here.

 

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.

Tuesday, 10.11.2020, 09:00 - 10:00, room 0.016
Introductory meeting 
TBA Registration deadline and topic selection on our website
TBA Registration deadline in BASIS (updated)
TBA Lab presentation and deadline for lab documentation

 

Registration

The registration on the HRL website will open on 10.11.2020 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)