Humanoid robotics

Elective in master programs

M2 Chalmers

Bachelor degree, including 30 credits of mathematics, plus programming

The course aims at giving the student knowledge of humanoid robots, i.e. bipedal walking robots with an approximately human-like shape, concerning artificial intelligence as well as engineering knowledge, through the accomplishment of a robot design project.

Introduction to humanoid robots

State of the art

Kinematics

Synthetization and control of bipedal gait; CPGs, ZMP, LGP

Other motor behaviours

Robot vision

Behavior based robotics

Artificial intelligence for humanoid robots

Hardware for humanoid robots

Applications

Robot interaction

Humanoid robots in society

Project planning

Understand and describe humanoid robots from a system perspective, and state-of-the-art.

Derive and apply the kinematic equations for a basic robot system.

Describe the different methods for bipedal gait generation and motion control, i.e. zero moment point (ZMP), central pattern generators (CPGs).

Apply linear genetic programming (LGP) for inverse kinematics.

Describe other motor behaviors, such as e.g. dexterous manipulation, for humanoid robots.

Apply basic algorithms for computer vision.

Apply artificial intelligence algorithms for humanoid robots.

Explain function and purpose of micro-controllers, computers, sensors, actuators and other hardware in connection with humanoid robots.

Discuss the potential roles of humanoid robots in society, w.r.t. social and ethical aspects, and applications.

Explain and discuss technical challenges with humanoid robots.

Apply the contents of the course in connection with a humanoid project.

Set up, organize and report a project with technical and/or scientific challenges.

The course consist of lectures with theory, and lab sessions. In the lectures two sets of individual, mandatory assignments are given out. The students should also carry out a humanoid robot project during the lab sessions part, in groups of 2-4 students. The result of the group project should be demonstrated in the class, and written reports should also be handed in.

The examination consists of three mandatory parts: (i) home assignment, (ii) mandatory written test ("dugga"), and (iii) project assignment. The homework assignment and the written test will be assessed individually for each student. The projects will be examined both on a project group basis as well as on the individual student level.In the project examination the over all accomplishment of the project, as well as organization and structure, documentation (planning report and final report), and oral project presentation contribute to the project grade.These parts are graded separately, and then fused to form a final grade for the course. For the final grade, homework is weighted with 25%, homework with 25%, and project assignment with 50%. For a pass on the entire course, the student must perform pass in all three mandatory parts.

If a student who has been failed twice for the same examination element wishes to change examiner before the next examination session, such a request is to be granted unless there are specific reasons to the contrary (Chapter 6 Section 22 HF).

If a student has received a certificate of disability study support from the University of Gothenburg with a recommendation of adapted examination and/or adapted forms of assessment, an examiner may decide, if this is consistent with the course’s intended learning outcomes and provided that no unreasonable resources would be needed, to grant the student adapted examination and/or adapted forms of assessment.

If a course has been discontinued or undergone major changes, the student must be offered at least two examination sessions in addition to ordinary examination sessions. These sessions are to be spread over a period of at least one year but no more than two years after the course has been discontinued/changed. The same applies to placement and internship (VFU) except that this is restricted to only one further examination session.

If a student has been notified that they fulfil the requirements for being a student at Riksidrottsuniversitetet (RIU student), to combine elite sports activities with studies, the examiner is entitled to decide on adaptation of examinations if this is done in accordance with the Local rules regarding RIU students at the University of Gothenburg.

The results of and possible changes to the course will be shared with students who participated in the evaluation and students who are starting the course.