16-264: Humanoids
Spring 2012
Instructor: Chris Atkeson, cga @ cmu
TA: Siyuan Feng sfeng @ andrew
Time: TR 3-4:20PM Place: NSH 3002 Units: 12

Events of interest

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

Jan 17: Introduction
Jan 19: Overview of golf project
Jan 24: NAO demo
Jan 26: Simulating sliding and rolling contact
Jan 31:
Golf simulation
Golf with wheeled robot: Zickler
Feb 2: Planning
Feb 7: Planning, Memory-based Reasoning
Feb 9: Darwin-OP humanoid demo
Feb 14: Kinematics
New golf simulation with blimp golfer
Feb 16: Inverse Kinematics
Feb 21: Using optimization to solve inverse kinematics example 1, example 2. example 3.
Gravity compensation
Feb 23: Trajectories
Feb 28: Static Walking
March 1: Dynamic Running, Walking CMU flip CMU quadruped
March 6: Discussion
March 8: Help Session
March 20: Dynamic Walking
March 22: Actuators, Transmissions
March 27: Proprioception
March 29: Vision
April 3: Skin and tactile sensing Skin: another picture.
April 5: Smell and Taste
April 5: Pattern recognition and modeling: Bayes' Law, Speech recognition, Clustering, Regression
Hands: Hand anatomy, finger anatomy (View as PDF, Fig. 7), Salisbury, Shadow, Robonaut, Barrett, High-speed, High-speed cloth, Jammer, GraspIt!,
Wierd
Sushi,
Emotions
Learning
...
May 1: Project Presentations
May 3: Project Presentations

Assignment 0: Send email to Chris: Who are you? Done any robotics? Any project ideas? Google and send me some interesting URLs.
Be sure your name is obvious in the email, and you mention the course name or number. I teach more than one course, and a random email from robotlover@cs.cmu.edu is hard for me to process.
Assignment 1: Install the ODE simulation software and run the demo programs.
Assignment 2: Golf Assignment I Due Feb 13.
Assignment 3: Build a Humanoid Parts 1 and 2 due Feb 27, parts 3 and 4 due March 5.
Assignment 4: Send email to Chris and the TA describing your project. Due March 8.
Assignment 5: Walking Due April 30.
May 13: Graduating Students: last day to turn in overdue assignments and projects
May 17: All Other Students: last day to turn in overdue assignments and projects

Something involving the Wowwee robot
Something involving the Nao robot
Something involving the Darwin robot
Implement mini-golf on one of the above robots.
Implement vision to see and map a mini-golf hole.
Bongo boarding: Can the Nao or Darwin robot do it?
Help us develop a real time Linux robot controller.
Help us develop a real time Windows robot controller.
Control of the new big dog video 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.
Dynamic Programming 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.
You suggest something.