CS 6998-2, Humanoid Robotics Fall 2012, Prof. Peter Allen

TENTATIVE Class Schedule (Subject to change..)

Class 1: Sep. 5	Humanoids Overview Humanoid Robots Rise IEEE Spectrum, Oct. 2010. Humanoid Robotics IEEE Robotics & Automation Magazine, IEEE , vol.19, no.1, pp.108,118, March 2012 Humanoids by Charles C. Kemp, Paul Fitzpatrick, Hirohisa Hirukawa, Kazuhito Yokoi, Kensuke Harada, and Yoshio Matsumoto. Chapter 56, Springer Handbook of Robotics, Springer, June, 2008. Rob's Robot: Current and Future Challenges for Humanoid Robots by Boris Duran and Serge Thill in THE FUTURE OF HUMANOID ROBOTS RESEARCH AND APPLICATIONS, Edited by Riadh Zaier, intechweb.org, 2009. Humanoids Overview, Una-May O'Reilly, RSS 2010 notes.	Assignment: Read Humanoids Chapter 56 and Rob's Robots papers
Class 2: Sep. 12	Humanoid Hardware and Design (Slides) Humanoid Robotics IEEE Robotics & Automation Magazine, IEEE , vol.19, no.1, pp.108,118, March 2012 ASIMO Honda humanoid robots development by Masato Hirose and Kenichi Ogawa, Phil. Trans. R. Soc. A 2007 365, 11-19 Humanoid Research at Waseda University Robonaut 2 - The first humanoid robot in space 2011 IEEE International Conference on , vol., no., pp.2178-2183, 9-13 May 2011 Willow Garage PR2, related paper COG Humanoid Hubo, related paper iCub Robot and slides	Reading Assignment: Read the two papers for Sep. 19 class, Motion Planning for Humanoid Robots and OpenRAVE paper
Class 3: Sep. 19	Motion Planning for Humanoid Robots by James Kuffner, Koichi Nishiwaki, Satoshi Kagami, Masayuki Inaba and Hirochika Inoue Springer Tracts in Advanced Robotics, 2005, Volume 15/2005, 365-374 Footstep Planning Video Footstep Planning Slides RRT slides OpenRAVE: Automated Construction fo Robotic Manipulation Programs by Rosen Diankov (appendix to his Thesis) Ubuntu OpenRAVE image OpenHubo files	Reading Assignment: Task Space Regions: A Framework for Pose-Constrained Manipulation Planning by Dmitry Berenson1, Siddhartha Srinivasa2, and James Kuffner A Robot Path Planning Framework that Learns from Experience by Dmitry Berenson Pieter Abbeel Ken Goldberg Sign up for a paper presentation in class on a topic in Humanoid Robots
Class 4: Sep. 26	Guest Lecture, Prof. Dmitry Berenson, Worcester Polytechnic Institute, Algorithms for Constrained Motion Planning and Manipulation	Assignment: Read both papers for Oct. 3 class. Project proposals due in class.
Special Class: FRIDAY Sep. 28	Guest Lecture: HUBO DEMO,Rob Ellenberg and Dan Lofaro, Drexel University Live demo of Hubo Humanoid Robot 1:00 PM, CS Department Lounge
Class 5: Oct. 3	Randomized Kinodynamic Planning, S. LaValle and J. Kuffner, Int. Journal Robotics Research, May 2001 vol. 20 no. 5 378-400. Slides Humanoid Motion Planning for Dynamic Tasks, Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots Human - Robot Interaction slides by Holly Yanco, UML	Next class is Oct. 17 Reading Assignment: Human-Robot Interaction: A Survey Michael A. Goodrich and Alan C. Schultz. 2007. Foundation and Trends in Human-Computer Interaction, January 2007 Multimodal Approach to Affective Human-Robot Interaction Design with Children by S Okita,V Ng-Thow-Hing and RAVI K. Sarvadevabhatla, Captain May I? Proxemics Study Examining Factors that Influence Distance between Humanoid Robots, Children, and Adults, during Human-Robot Interaction by S. Okita et. al.
Class 6: Oct. 10	No class: Prof. Allen is attending IROS 2012, Algarve, Portugal
Class 7: Oct. 17 11 AM and 4:10 PM	CS Department Distringuished Lecture: Symbiotic Autonomy: Robots, Humans, and the Web Manuela Veloso, CMU, 11AM, Davis Auditorium Guest Lecture: Sandra Okita , Teachers's College, Columbia. Multimodal Approach to Facilitating Affective Human-Robot Interactions
Class 8: Oct. 24	Learning and Cognition for Humanoid Robots A survey of robot learning from demonstration by Brenna, D. Argall, Sonia Chernova, Manuela Veloso, Brett Browning,, Robotics and Autonomous Systems, Volume 57, Issue 5, 31 May 2009, Pages 469-483 Chapter 59, Springer Handbook of Robotics: Robot Programming by Demonstration by Aude Billard, Sylvain Calinon, Rüdiger Dillmann, Stefan Schaal On Learning, Representing, and Generalizing a Task in a Humanoid Robot by S. Calinon et,al., IEEE Trans. SMC April 2007 Control of a humanoid robot by a noninvasive braincomputer interface in humans, by Christian J Bell, Pradeep Shenoy, Rawichote Chalodhorn and Rajesh P N Rao, J. Neural Eng. 5 (2008) 214220
Class 9: Oct.31	Humanoid Robot Sensing and Perception Vision Systems Range Sensors `Force/Torque sensing Tactile Sensing 3D Perception and Environment Map Generation for Humanoid Robot Navigation, by Jens-Steffen Gutmann, Masaki Fukuchi, and Masahiro Fujita. The International Journal of Robotics Research October 2008 27: 1117-1134 Autonomous Navigation of a Humanoid Robot over Unknown Rough Terrain using a Laser Range Sensor by Koichi Nishiwaki, Joel Chestnutt and Satoshi Kagami, International Journal of Robotics Research published online 17 August 2012
Class 10: Nov. 7	Guest Lecture: Prof. Brian Scassellati, Yale University. Human-Robot Interaction.
Class 11: Nov. 14	Humanoid Robot Social Cognition Emotion and sociable humanoid robots by Cynthia Breazeal, Int. J. Human-Computer Studies 59 (2003) 119155 The iCub humanoid robot: An open-systems platform for research in cognitive development by G. Metta et. al. Neural Networks Volume 23, Issues 89, October/November 2010, Pages 1125-1134 Social cognitive neuroscience and humanoid robotics by Thierry Chaminade and Gordon Cheng, Journal of Physiology - Paris 103 (2009) 286295
Class 12: Nov. 21	Locomotion and Walking Legged Motion Slides, Marc Toussaint, FU Berlin Forces Acting on a Biped Robot. Center of Pressure - Zero Moment Point by P. Sardain and G. Bessonnet, IEEE TRANS. ON SYSTEMS, MAN, AND CYBERNETICS, VOL. 34, NO. 5, SEPTEMBER 2004 Biped Walking Pattern Generation by using Preview Control of Zero-Moment Point, S. Kajita et. al., ICRA 2003.
Class 13: Nov. 28	Grasping and Manipulation Toward humanoid manipulation in human-centered environments by T. Asfour et. al., Robotics and Autonomous Systems 56 (2008) 5465 Data Driven Grasping, Corey Goldfeder and Peter K. Allen, Autonomous Robots, April 2011, pp. 1-20. Grasping with Your Face, Weisz, J., Shababo, B., Dong, L. and Allen, P., 13th International Symposium on Experimental Robotics (ISER) June 17-21, 2012. Towards reliable grasping and manipulation in household environments.M. Ciocarlie, K. Hsiao, E. G. Jones, S. Chitta, R. B. Rusu, and I. A. Sucan. In Intl. Symp. on Exp. Robotics, 2010.
Class 14: Dec. 5	Student Project Presentations