CRA338 Humanoid Robotics Syllabus:
CRA338 Humanoid Robotics Syllabus – Anna University Regulation 2021
COURSE OBJECTIVES:
1. To know the basic knowledge about Humanoid robots.
2. To impart knowledge in kinematics of humanoids.
3. To learn about the dynamics in humanoid robots.
4. To understand the basic in biped walking.
5. To know about the different walking patterns.
UNIT – I INTRODUCTION
Historical development of Humanoids, Human Likeness of a Humanoid Robot, Trade-Offs in Humanoid Robot Design, Human-Friendly Humanoid Robot Design, characteristics of humanoid robots.
UNIT – II KINEMATICS
Kinematic structure, forward and inverse kinematic problems, differential kinematics, Twist, Spatial Velocity, and Spatial Transform, Inverse Differential Kinematic Relations. Differential kinematics at singular configurations- Gait Analysis
UNIT – III ZMP AND DYNAMICS
ZMP Overview,2D Analysis,3D Analysis, Measurement of ZMP, General Discussion- ZMP of Each Foot, ZMP for Both Feet Contact, Dynamics of Humanoid Robots, Humanoid Robot Motion and Ground Reaction Force, Momentum, Angular Momentum, Angular Momentum and Inertia Tensor of Rigid Body, Calculation of Robot’s Center of Mass, Link Speed and Angular Velocity, Calculation of Robot’s Momentum and Angular Momentum
UNIT – IV BIPED WALKING
Two Dimensional Walking Pattern Generation, Two Dimensional Inverted Pendulum, Behavior of Linear Inverted Pendulum, Orbital Energy, Support Leg Exchange, Planning a Simple Biped Gait, Extension to a Walk on Uneven Terrain.
UNIT – V WALKING PATTERN GENERATION
ZMP Based Walking Pattern Generation, Cart-Table Model, Off-Line Walking Pattern Generation,Stabilizer, Principles of Stabilizing Control, Stabilizing Control of Honda Humanoid Robot, Advanced Stabilizers.
TOTAL: 45 PERIODS
COURSE OUTCOMES
Upon successful completion of the course, students should be able to:
CO 1: Describe about the evolution of Humanoid robots
CO 2: Expose the basic knowledge in kinematics of humanoids.
CO 3: Calculate the Humanoid Robot Motion and Ground Reaction Force.
CO 4: Identify Two-Dimensional Walking pattern on different terrain.
CO 5: Create the Walking Pattern models.
TEXT BOOKS:
1. Dragomir N. Nenchev, Atsushi Konno, “Humanoid Robots Modeling and Control”, Butterworth Heinemann, 2019
2. Shuuji K, Hirohisa H, Kensuke H, Kazuhito, Springer-Verlag GmbH ”Introduction to Humanoid Robotics”, Springer, London, 2014.
3. GoswamiAmbarish, VadakkepatPrahlad, “Humanoid Robotics: A Reference”, Springer, 2019.
4. 4. J. Craig, “Introduction to Robotics: Mechanics and Control”, Fourth Edition, Pearson, 2022.
REFERNCES:
1. A. Goswami, P. Vadakkepat (Eds.), “Humanoid Robotics: A Reference”, Springer, Netherlands, Dordrecht, 2018
2. J K. Harada, E. Yoshida, K. Yokoi (Eds.), “Motion Planning for Humanoid Robots”, Springer, London, 2010.
3. Lorenzo Sciavicco and Bruno Siciliano, “Modelling and Control of Robot Manipulators”, second edition, Springer, 2000.
4. Jean-Claude Latombe, “Robot Motion Planning”, Kluwer Academy Publishers, 2004.