16-264: Humanoids
Fall 2005
Tuesdays/Thursdays 3-4:20
Doherty 1217
Instructors: Chris Atkeson, cga@andrew
Darrin Bentivegna darrinb@andrew
Philipp Michel pmichel@andrew
Units: 12

Course Description

Events

• RI Seminar Nov. 11: Social robots, social development, and social disorders, Brian Scassellati
• Meet the CMU QRIOS: FRIDAY, 4 NOVEMBER 2005, NSH 3305, Noon - 2:00 pm Our QRIOs will be introduced to you by the Sony researchers TODD KUZUKI and TOSHIYUKI KAWAI.
• 10/14 Friday 3:30, RI Seminar: Studies on energetically efficient biped locomotion.
• 10/8 Grand Challenge Race.
  
• RI PhD Thesis Proposal The Role of Compliance in Legged Locomotion Jonathan Hurst,
• 9/9 Friday 3:30, RI Seminar: The Interbots Initiative at Carnegie Mellon's Entertainment Technology Center: Interactive Animatronics with character! Video of seminar on seminar page. More info: www.interbots.org
• 9/2 Friday 3:30, RI Seminar: Useful Signals From Motor Cortex Video of seminar on seminar page.

Assignments

• Assignment 1: Planning and Optimal Control (Due Oct. 10)
• Assignment 2: Vision (Due Oct. 31)
• Assignment 3: Robosapien

Lecture Notes

• Aug. 30: Introduction to Humanoids
• Sep. 1: Lecture 2: Kinematics
• Sep 6: Learning from Observation and Practice using primitives
• Sep 8: ASIMO demo
• Sep 13: Lecture 5: Trajectories
• Sep 15: Lecture 6: Dynamics, Simulation and Control
• Sep 20: Force Control
• Sep 22: Planning and Optimal Control
• Sep 27: Planning and Optimal Control
• Sep 29: Planning and Optimal Control
• Oct 4: Vision
• Oct 6: Vision
• Oct 11: Probabilistic Reasoning
• Oct 13: Kalman Filters, SLAM
• Oct 18: Learning as Function Approximation I
• Oct 20: Learning as Function Approximation II
• Need to fill rest in.

Projects:

• Little dog (Atkeson) More info Hobby version
  Michael McCortney
  Somchaya Liemhetcharat
  
• ping pong robot (Bentivegna)
  Si Yang Ng
• biped walking (Atkeson)
  Tamiki Kobayashi (ZMP) Alex Malkin and Rob Cavagnaro (PDW)
• vision (Michel)
  Phil Cuadra and Mark Hairgrove (GPU-vision)
  Jordan Devries, Mike Riley
  Optic Flow: Tristan Trutna and Mark Schumacher (midway)
  Mark Schumacher, Tristan Trtuna (final)
• Dan Cartoon
• Nolan the Robotic Arm: Kevin Lipkin, Tim Sandy, Steven Blair, and Isaac Brown.
• Air Hockey: Justine Rembisz (final)

Projects (not turned in yet?):

• Face robot: Wes Morrill
• Sound Localization: Alvin Fong

The RoboSapien Assignment

• Justine Rembisz, Mark Hairgrove, & Phil Cuadra
• Robert Cavagnaro, A. Malkin
• Tristan Trutna, Mark Schumacher
• Mark Schumacher, Tristan Trtuna (alternative version)
• Jordan Devries, Mike Riley
• Alvin Fong (Information Systems) & Wes Morrill (Mechanical Engineering) main backup
• Broomba: Kevin Lipkin, Tim Sandy, Steven Blair, and Isaac Brown.

Humanoids

• Android World
• Plyojump.com
• Honda ASIMO
• Sony QRIO
• Fujitsu HOAP 3
• Toyota Partner Robots
• Kawada HRP2
• NASA Robonaut
• Actroid
• Hitachi
• Waseda Talking Robot
• Humanoid Robotics Institute, Waseda University
• Wakamaru
  Wakamaru
  Wakamaru
• Fujitsu Enon
• roboreceptionist.com
• CMU's robot receptionist

Other Humanoids Courses (mostly graduate)

• CMU Graduate
• UMass
• Chalmers
• USC
• MIT

Hardware

• Robot store
• kits