Humanoid Olympics

Lecturer (assistant)
Number0000001697
TypeProject practical training
Duration4 SWS
TermSommersemester 2015
Language of instructionGerman
Position within curriculaSee TUMonline
DatesSee TUMonline

Dates

Course criteria & registration

See TUMonlineonline registration

Objectives

Hands-on experience with humanoid robots. This will give the students a good idea how to handle multiply sensors and combine this data to create a stable gait for multiple tasks. They will also again experience programming software for humanoid robots that interact with the real world and understand the difficulties of raw sensor noise and how to trade stability for fast reactions.

Description

Programming a humanoid robot to compete in 3 competitions; 1) 5 meter sprint, the student will have to design a walking algorithm that has the fastest gait. 2) stairs walk, the student will design an algorithm that lets the humanoid robot climb and then descend a set of stairs. 3) humanoid sumo, the student will design an algorithm that allows the robot to stay standing once pushed and to also push another humanoid robot out of the ring. All three of these task will involve combining the sensor data from the humanoid robot and using this data to create a stable walking gait. At the end of the course the student should have good knowledge of humanoid control and how to program a robot in C++ to stably achieve multiple tasks

Prerequisites

Good C/C++ programming. Basic understanding of sensor and activators. Some basic control knowledge.

Teaching and learning methods

This will be a hands on course. The students will be split into small groups and given a humanoid robot to work with. The students are then expected to manage their own group, this includes splitting the work load between the member, research different algorithms to achieve the 3 task. They will be supervised to get advice and direct the students in the correct direction.

Examination

laboratory experiments and their presentation, oral examination

Recommended literature

"Springer Handbook of Robotics", Bruno Siciliano and Oussama Khatib, 2008

Links