16-264: Humanoids
Spring 2010
Instructor: Chris Atkeson, cga @ cmu
TA: Elliot Cuzzillo, ecuzzillo @ gmail
Time: TR 3-4:20PM Place: NSH 3002 Units: 12

Wowee has donated 40 Robosapien RS Media robots for this course!!!!! Many Thanks!

Why is this a good course to take?

Fun!
Course gives you a survey of a wide range of robotic technology.
Each lab group gets their very own Robosapien RS Media robot which can be computer controlled via a USB port.
Course focuses on doing (project rather than exam, for example).
We work hard to get you involved in research, if you want.
Freshmen and sophomores encouraged.

Course Description

For more information, take a look at the previous version of this course.

Resources

Jan 12: Introduction
Jan 14: Simulation
Jan 19: Class cancelled
Jan 21: Building a simulated humanoid
Jan 26: Standing Balance and the Sarcos Robot
Jan 28: Actroid field trip: CBarnes1 at andrew for more information.
Feb 2: Forward and Inverse Kinematics
Feb 4: Gravity Compensation
Feb 9: Snow day
Feb 11: Learning 1
Feb 16: Learning 2
Feb 18: Guest lecture: Matt Zucker
Feb 23: Gravity Compensation, Dynamics. dynamics-2d
Feb 23: Representing 3D orientation
Feb 25: Vision
Mar 2: Intro to RoboSapien, Field Trip
Mar 4: Recognition
Mar 16: Differential Kinematics
Mar 18: Force Control
Mar 23: Entertainment Robotics
Mar 25: Robot Learning
Mar 30: Planning I
Apr 1: Planning II
Apr 6: High Level Planning
Apr 8: Planning
Apr 13: Walking
Apr 15: No class
Apr 20: Hands
Apr 22:
Apr 27: Project Presentations
Apr 29: Project Presentations

Assignments

Ways to capture movies of your assignments

Assignment 0: Send email to Chris: Who are you? Done any robotics? Any project ideas? Google and send me some interesting URLs.
Assignment 1: Install the ODE simulation software and run the demo programs.
Assignment 2: Build a simulated humanoid. Due March 1.
Assignment 3: Dance Contest. Due March 22.
Assignment 4: Robot Learning. Due April 12.

Possible Projects:

Actroid. Contact CBarnes1 at andrew for more information.
Dynamic Programming Contact cga.
Control of the new big dog Contact cga
State sensing using many accelerometers and gyros, for example using this, this, this, this, this, this, this, this, this, this, this, this, this, this, or this. Contact cga.
Human transfer (helping people with disabilities move from bed to chair to car etc.) Contact cga.
HERB project. Contact cga.
Neuro/biomechanical modeling and/or walking with new professor Hartmut Geyer. Contact hgeyer @ cs.
Hands (Nancy Pollard, HERB project). Contact nsp @ cs or cga.
Something involving the Wowwee robot
You suggest something.

For more example projects, take a look at a previous version of this course.

Info on Humanoids

Videos

Commentary

WindDanceFilm: Androids - Are they already near us?

Other Humanoids Courses (mostly graduate) and Reseearch Groups

Hardware

Info on Robosapien RS Media robot

Course Poster, suitable for framing.