Columbia University, Computer Science Department

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

Student Talk Schedule

Please sign up by email (first come first serve!) for a talk in one of the sessions below. You will be assigned a paper(s) to discuss in class. You will need to meet with Prof. Allen to arrange which papers you will be covering.

Papers below are representative papers. Other papers on the same topic may be chosen.

Below is some information about your Student talks:

1. Each talk should be at least 30 minutes long. Longer is Ok too.

2. You should prepare a set of slides for presentation. It is acceptable to use slides from another source as long as you attribute the source.

3. You should have a "lead" paper that you present, but also should talk about related papers, usually papers cited in the lead paper, so everyone will get a deeper sense of the research area.

4. You should also coordinate with your fellow students who are giving talks on the same topic to coordinate your presentation with theirs and make sure there is no overlap.

5. If you are unsure what you are presenting, please see me.

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: CONNIE LIU
On Learning, Representing, and Generalizing a Task in a Humanoid Robot by S. Calinon et,al., IEEE Trans. SMC April 2007: MAURICIO CASTANEDA
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: ALEX SIGARAS

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: CECILIA SCHUDEL
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: ERIN JACKLIN
Dahiya, R.S.; Metta, G.; Valle, M.; Sandini, G.; , "Tactile SensingFrom Humans to Humanoids Robotics, IEEE Transactions on , vol.26, no.1, pp.1-20, Feb. 2010: FRED CLINKCKEMAILLE

Nov. 14 Humanoid Robot Social Cognition

Emotion and sociable humanoid robots by Cynthia Breazeal, Int. J. Human-Computer Studies 59 (2003) 119155: VIVEK BHAGWAT
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: CHIH-FAN CHEN
Social cognitive neuroscience and humanoid robotics by Thierry Chaminade and Gordon Cheng, Journal of Physiology - Paris 103 (2009) 286295: MICHAEL ZHONG

Nov. 21 Locomotion and Walking
Towards Motor Skill Learning for Robotics byJan Peters, Katharina M╱lling, Jens Kober, Duy Nguyen-Tuong, and Oliver Kr╫mer Motor Control Learning for Humanoid Robots; JASON RAVEL
ANTON MAYR, PAUL KO, COLIN RUSSEL: you three need to see how to partition this work. The first paper is a survey, and you all should break this down into 3 parts, assigning yourself one part each.
Legged Robots by S. Kajita and B. Espiau, Springer Handbook of Robotics:
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.

Nov. 28 Grasping and Manipulation

Toward humanoid manipulation in human-centered environments by T. Asfour et. al., Robotics and Autonomous Systems 56 (2008) 5465: AMPLE HOUT
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.: MARC HOWARD

Class 14: Dec. 5 Student Presentations

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: CONNIE LIU On Learning, Representing, and Generalizing a Task in a Humanoid Robot by S. Calinon et,al., IEEE Trans. SMC April 2007: MAURICIO CASTANEDA 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: ALEX SIGARAS
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: CECILIA SCHUDEL 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: ERIN JACKLIN Dahiya, R.S.; Metta, G.; Valle, M.; Sandini, G.; , "Tactile SensingFrom Humans to Humanoids Robotics, IEEE Transactions on , vol.26, no.1, pp.1-20, Feb. 2010: FRED CLINKCKEMAILLE
Nov. 14	Humanoid Robot Social Cognition Emotion and sociable humanoid robots by Cynthia Breazeal, Int. J. Human-Computer Studies 59 (2003) 119155: VIVEK BHAGWAT 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: CHIH-FAN CHEN Social cognitive neuroscience and humanoid robotics by Thierry Chaminade and Gordon Cheng, Journal of Physiology - Paris 103 (2009) 286295: MICHAEL ZHONG
Nov. 21	Locomotion and Walking Towards Motor Skill Learning for Robotics byJan Peters, Katharina M╱lling, Jens Kober, Duy Nguyen-Tuong, and Oliver Kr╫mer Motor Control Learning for Humanoid Robots; JASON RAVEL ANTON MAYR, PAUL KO, COLIN RUSSEL: you three need to see how to partition this work. The first paper is a survey, and you all should break this down into 3 parts, assigning yourself one part each. Legged Robots by S. Kajita and B. Espiau, Springer Handbook of Robotics: 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.
Nov. 28	Grasping and Manipulation Toward humanoid manipulation in human-centered environments by T. Asfour et. al., Robotics and Autonomous Systems 56 (2008) 5465: AMPLE HOUT 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.: MARC HOWARD
Class 14: Dec. 5	Student Presentations