16264: Humanoids
Spring 2015
Instructors: Chris Atkeson,
cga at cmu
TA: Allison Funkhouser, afunkhou at andrew
Time: TR 34:20PM
Place: NSH 3002
Units: 12
Events of interest
Chappie (movie)
opens March 6.
Ex Machina (movie)
opens April 10.
For more information, take a look at
the previous
version of this course.
Schedule

Jan 13: Introduction

Jan 15: Intro to Vision

Jan 20: 2D Debris Task: Registration, Hands, Choosing a target,

Jan 22: Trajectories

Jan 27: Forward and Inverse Kinematics

Jan 27: Using Matlab
A basic tutorial for vectors and matrices,
kinematics example.

Jan 27: Inverse Kinematics Using Function Optimization
Robotics: redundant inverse kinematics.
Using Matlab's fminsearch and fminunc.
Using Matlab's fminsearch and fminunc, with
desired posture.
Using Matlab's fmincon.

Jan 29  Feb 3: 3D Orientation
3D Rotation

Feb 3: 3D Vision

Feb 3: 3D Debris Task
Matlab code for DRC robot forward kinematics.

Feb x: Collision Detection

Feb x: Manipulation: Planning
Straight line paths in joint space and Cartesian space,
Potential functions,
Dijkstra's algorithm,
Dynamic programming,
A*,
Rapidly Exploring Random Trees (RRT),
CHOMP

Feb x: Actuation: Force/torque sources, position sources with compliance

Feb x: Feedback Control

Feb x: Dynamics
gravity compensation, full dynamics,
automating derivation

Feb x: Simulation
ODE
frictionless cars

Feb x: Model Building
Kinematic calibration, Mass calibration, Dynamic calibration.

Feb x: Internal Sensors:
Vestibular,
picture,
Proprioceptive: Muscle
spindle, Golgi Tendon Organ
picture,

Feb x: Robot Touch/Force Sensors: skin, finger, wrist, joint, ankle, base.

Feb x: Skin, and tactile sensing:
Skin,
Sensors,
picture,
picture,
picture,

Feb x: Locomotion: wheeled vehicles
Simple dynamics, kinematics, and control. How to plan around obstacles.

Feb x: Locomotion: legged balance

Feb x: Locomotion: running
CMU flip
CMU quadruped

March x: Locomotion: walking:
static, CPG, ZMP, dynamic.

March x: Locomotion: walking and running on rough terrain
Footstep planning, A* search, Trajectory optimization.

March x: Artificial People

March 913: No Class

March xx: Hands:
Bones
Tendons and
internal muscles
Grips
more grips
Salisbury,
UtahMIT hand,
UtahMIT hand 2,
Shadow,
Robonaut,
Barrett,
Sandia Hand,
iRobot Hand,
Robotiq,
Highspeed,
Highspeed cloth,
Jammer,
Sushi,
GraspIt!,

March xx: Learning:
Pattern recognition,
Classification,
Regression
Neural net,
Neural net 2,
Neural net learning,
Decision Tree,

April x: Classification Examples:
Smell and
Taste
400 receptors, 1 trillion smells

April x: MemoryBased Learning:
knearest neighbors algorithm,
Kernel regression and locally weighted regression. Model learning.

April x: Project Brainstorming

April x: Ethics, Policy Issues

Festo Kangaroo

April x: Clustering

April x: Learning Probabilities
Density estimation
Bayes' Law,
Kalman Filter

April x: Function Optimization
gradient, nongradient, evolutionary.

April x: Reinforcement Learning
Policy optimization

April 9: No Class

April x: Learning From Practice
Trajectory learning.

April x: Learning From Demonstration
Inverse optimal control.

April 28: Project Presentations

April 30: Project Presentations

May x: Project Writeups Due
Assignments
Ways to capture movies of your assignments

Assignment 0: Due Jan 19.
Send email to Chris and Allison: 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. We teach more than one course, and a random email from
robotlover@cs.cmu.edu is hard for us to process.

Assignment 1: Due Jan 20.
Watch a movie or TV show or read a book that has a significant humanoid
robot character. Be prepared to discuss this character in class.
Current movies: Big Hero 6 and Interstellar.

Assignment 2: Inverse Kinematics: Due Feb 11.
Projects:
* means with high probability it could turn into a summer job.

* Build a soft robot and control it. See my web pages on soft robots

* Build Baymax

* Build a "robot theater/diorama" for STEAM education.

* Help me build a sensor network for the Sarcos humanoid.

* Help a graduate student get the Sarcos humanoid working again.

* Build a prototype robot skin (with CGA help).

* Figure out how to make the RobotisMini (Darwin) useful to the course.

Get a microprocessor to do something involving the real world (sensing
or actuation). *Get an Intel Edison working.

Simulate something 3D in Matlab (hopping, walking, grasping, ...)

Simulate something 3D in ODE

Simulate something 3D in Gazebo

Develop a vision system to recognize your friends (Use a Kinect).

Develop a speech system for robot commands or robot interaction.

Train a neural net or other learning approach to do something interesting.

Implement some aspect of robotics that we discussed, or something
that interests you.

Survey the state of the art in some aspect of robotics.

Research some topic of interest to you.
Things to Think About
Info on Humanoids
Videos
Commentary
Other Humanoids Courses (mostly graduate) and Research Groups
Course Poster, suitable for framing.