Course syllabus for Humanoid robotics

Course syllabus adopted 2023-02-08 by Head of Programme (or corresponding).

Overview

  • Swedish nameHumanoida robotar
  • CodeTIF160
  • Credits7.5 Credits
  • OwnerMPCAS
  • Education cycleSecond-cycle
  • Main field of studyEngineering Physics
  • DepartmentMECHANICS AND MARITIME SCIENCES
  • GradingTH - Pass with distinction (5), Pass with credit (4), Pass (3), Fail

Course round 1

  • Teaching language English
  • Application code 11114
  • Maximum participants20 (at least 10% of the seats are reserved for exchange students)
  • Block schedule
  • Open for exchange studentsYes

Credit distribution

0107 Project 7.5 c
Grading: TH		7.5 c

In programmes

Examiner

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Eligibility

General entry requirements for Master's level (second cycle)
Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling the requirements above.

Specific entry requirements

English 6 (or by other approved means with the equivalent proficiency level)
Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling the requirements above.

Course specific prerequisites

Basic mathematical and programming skills are required. It is recommended to be familiar with programming of microcontrollers. The course Autonomous robots, or a similar course is strongly recommended.

Aim

The course aims at giving the student knowledge of humanoid robots, i.e. bipedal walking robots with an approximately human-like shape, concerning artificial intelligence as well as engineering knowledge, through the accomplishment of a robot design project.

Learning outcomes (after completion of the course the student should be able to)

  • Understand and describe humanoid robots from a system perspective, and state-of-the-art.
  • Derive and apply the kinematic equations for a basic robot system.
  • Describe the different methods for bipedal gait generation and motion control, i.e. zero moment point (ZMP), central pattern generators (CPGs).
  • Apply linear genetic programming (LGP) for inverse kinematics.
  • Describe other motor behaviors, such as e.g. dexterous manipulation, for humanoid robots.
  • Apply basic algorithms for computer vision.
  • Apply artificial intelligence algorithms for humanoid robots.
  • Explain function and purpose of micro-controllers, computers, sensors, actuators and other hardware in connection with humanoid robots.
  • Discuss the potential roles of humanoid robots in society, w.r.t. social and ethical aspects, and applications.
  • Explain and discuss technical challenges with humanoid robots.
  • Apply the contents of the course in connection with a humanoid project.
  • Set up, organize and report a project with technical and/or scientific challenges.

Content

  • Introduction to humanoid robots
  • State of the art
  • Kinematics
  • Synthetization and control of bipedal gait; CPGs, ZMP, LGP
  • Other motor behaviours
  • Robot vision
  • Behavior based robotics
  • Artificial intelligence for humanoid robots
  • Hardware for humanoid robots
  • Applications
  • Robot interaction
  • Humanoid robots in society
  • Project planning

Organisation

The course consist of lectures with theory, and lab sessions. In the lectures two sets of individual, mandatory assignments are given out. The students should also carry out a humanoid robot project during the lab sessions part, in groups of 2-4 students. The result of the group project should be demonstrated in the class, and written reports should also be handed in.

For further details, please refer to the course home page in Canvas LMS.

Literature

Lecture notes, scientific papers, and handouts. The material will be made available via the course web page, free of charge.

Examination including compulsory elements

The examination consists of three mandatory parts: (i) home assignment, (ii) mandatory written test ("dugga"), and (iii) project assignment. The homework assignment and the written test will be assessed individually for each student. The projects will be examined both on a project group basis as well as on the individual student level.
In the project examination the over all accomplishment of the project, as well as organization and structure, documentation (planning report and final report), and oral project presentation contribute to the project grade.
These parts are graded separately, and then fused to form a final grade for the course. For the final grade, homework is weighted with 25%, homework with 25%, and project assignment with 50%. For a pass on the entire course, the student must perform pass in all three mandatory parts.

The course examiner may assess individual students in other ways than what is stated above if there are special reasons for doing so, for example if a student has a decision from Chalmers on educational support due to disability.