Lecture Humanoid Robotics
Humanoid robots are currently an active research platform. Since they have a human-like body plan they can act in environments designed for humans. Humanoid robots are able to, e.g., climb stairs, walk through cluttered environments, manipulate objects, and open doors.
This lecture covers techniques for humanoid robots such as sensing and perception, environment representations, active perception, inverse kinematics, motion planning, grasping, balance control, walking, and footstep planning.
Organization
- Lecturer: Prof. Dr. Maren Bennewitz
- Co-organizers: Subham Agrawal, Ahmed Shokry, and Nils Dengler
- Lectures: Thursdays 08:30–10:00 (s.t.), starting April 10, 2025
- Tutorials: Tuesdays 08:30–10:00 (s.t.), starting April 15, 2025
- The module counts for 6 ECTS-Points
- The lecture and the tutorial will take place in lecture hall 7, Friedrich-Hirzebruch Allee 5
Semester:
SSYear:
2025Course Number:
MA-INF 4215Links:
BasisCourse Start Date:
10.04.2025Course End Date:
10.04.2025Course Dates:
Lecture: Thursday 8:30 - 10:00 (s.t.)ECTS:
6Responsible HRL Lecturers:
EXAM DATES
- Exam: 18.08.2025 12:00 - 14:00 in HS1
- Exam: 23.09.2025 12:00 - 14:00 in HS IV, Meckenheimer Allee 176
Timetable
Click here to expand the timetable
Slides
No. | Topic | Date | Slides |
|---|---|---|---|
1. | Introduction | April 10 | |
2. | 3D World Representations | April 17 | |
3. | Neural Fields | April 24 | |
4. | Active Perception | May 8 | |
5. | Fundamentals of Manipulation | May 15 | |
6. | Motion Planning for Manipulation | May 22 | |
7. | Grasping and Pushing | June 3 + June 17 | |
8. | Interactive Scene Exploration and Foundation Models | June 17 | |
9. | Locomotion: Kinematics & Dynamics | June 26 | |
10. | Locomotion: Control and Motion Planning | July 3 | |
11. | Locomotion: Footstep Planning and Realizing Motion Plans | July 10 | |
12. | Locomotion: Robot Learning | july 17 |
Assignments
No. | Topic | Date Published | Submission DEADLINE | Source | |
|---|---|---|---|---|---|
1. | Perception Basics | April 10 | April 17 | ||
2. | 3D World Representations | April 17 | April 24 | ||
3. | Neural Fields | April 25 | May 8 | ||
4. | Active Perception | May 9 | May 20 | ||
5. | Fundamentals of Manipulation | May 15 | May 20 | ||
6. | Motion Planning | May 23 | June 3 | ||
7. | Object Manipulation and Trajectory Generation | June 03 | June 17 | ||
8. | Perception for Grasping, Pushing, Interactive Perception and Foundation Models | June 17 | June 26 | ||
9. | Legged Robots Locomotion, Kinematics and Dynamics | June 26 | July 3 | ||
10. | Locomotion: Control and Motion Planning | July 3 | July 10 | ||
11. | Locomotion: Footstep Planning and Realizing Motion Plans | July 10 | July 17 | ||
12. | MOCKUP EXAM | July 10 | Discussion on July 17 in Lecture |
Exercise Hand-in
please submit your exercises via this Form as .zip-file. Please use the following naming scheme: "group_NR_Assignment_XX.zip". If the submission via this form does not work, please sent your solutions to: hr_exercises_at_hrl.uni-bonn.de