E91: Humanoid Robotics

Spring 2013

Mon 1:15-4:15, Hicks 301
Instructor: Matt Zucker

Course Description

This project-based course focuses on several topics in the area of humanoid robotics including balancing, legged locomotion, and mobile manipulation. Students will work with detailed computer simulations of the Hubo biped, as well as with one of two Darwin-OP robots in the robotics lab. Successful student projects may be run on a real, human-sized Hubo located at Drexel University.

Look over the course syllabus for more information.

I will update the topics below as we go through the course.

Useful/Interesting Links

DARPA Robotics Challenge
Atkeson humanoids course @ CMU Spring 2012, Spring 2013
Git documentation
PyOpenGL tutorials, manual
Making movies
Drexel DRC team homepage

Class Schedule

Week	Date	Topics	Readings	Assignments
1	Jan 21	Rigid transforms Kinematics Configuration space RRT's	Kuffner (2000)	Assignment 1
2	Jan 28	RRT-Connect Darwin-OP demo (He) Static stability (Martin)	Kuffner (2002)	Assignment 2
3	Feb 4	Kuffner 2002 Paper Path smoothing Dynamic stability - ZMP (He)	Geraerts (2007)	Assignment 3
4	Feb 11	Geraerts 2007 Paper Walking	Kajita (2003)	Assignment 4
5	Feb 18	ZMP preview control DRC team meeting debrief	Park (2007) optional	Assignment 5
5	Feb 25	Assignment 5 review		Assignment 6
6	Mar 4	DRC update Assignment 6 review CHOMP intro	CHOMP paper	Assignment 7
7	Mar 18	Hubo ZMP walking debrief Assignment 7 review	Hubo ZMP code Hubo walking movie
8	Mar 25	Hubo ZMP code review
9	Apr 1	Hubo ZMP code review, cont'd. 3D force/torque prediction for ZMP (Martin) A* planning	Chestnutt (2003)
10	Apr 8	Footstep planner demo (He)