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Graduate courses

Departments' graduate courses for PhD-students.

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Syllabus for

Academic year
TIF160 - Humanoid robotics
Humanoida robotar
 
Syllabus adopted 2019-02-14 by Head of Programme (or corresponding)
Owner: MPCAS
7,5 Credits
Grading: TH - Pass with distinction (5), Pass with credit (4), Pass (3), Fail
Education cycle: Second-cycle
Major subject: Engineering Physics
Department: 30 - MECHANICS AND MARITIME SCIENCES


Teaching language: English
Application code: 11114
Open for exchange students: Yes
Block schedule: C+
Maximum participants: 20

Module   Credit distribution   Examination dates
Sp1 Sp2 Sp3 Sp4 Summer course No Sp
0107 Project 7,5c Grading: TH   7,5c    

In programs

MPCAS COMPLEX ADAPTIVE SYSTEMS, MSC PROGR, Year 1 (compulsory elective)
MPCAS COMPLEX ADAPTIVE SYSTEMS, MSC PROGR, Year 2 (elective)
MPSYS SYSTEMS, CONTROL AND MECHATRONICS, MSC PROGR, Year 2 (elective)

Examiner:

Krister Wolff

  Go to Course Homepage


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 control, i.e. zero moment point (ZMP), central pattern generators (CPGs) and linear genetic programming (LGP).

  • Describe other motor behaviours, such as e.g. dexterous manipulation, for humanoid robots.

  • Understand and apply basic algorithms for computer vision.
  • Apply Artificial intelligence algorithms  for humanoid robots.
  • Basic knowledge of computers, sensors, actuators and other hardware in connection with humanoid robots.

  • Discuss and describe the advantages and disadvantages of humanoid robotics in relation to other kinds of robots.

  • Discuss the potential roles of humanoid robots in society, w.r.t. social and ethical aspects, and applications.

  • Understand 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.

Examination including compulsory elements

The examination consists of mandatory home assignments and a mandatory project. The home assignments will be individually examined 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.

The obtained partial grades will be fused together to a final course grade. Furthermore, in order to pass on the course, each student must attend all mandatory parts and contribute.


Page manager Published: Thu 04 Feb 2021.