We study the kinematics and dynamics of state-of-the-art, programmable humanoid robots from principles of physics, computer vision, and AI to physical simulations and executions on real humanoid robots. We also explore the use of stability analysis in motion.
Robots used:
Hiwonder TonyPi Pro
UBTECH Yanshee
Software/languages used:
Blender
Webots
Python
OpenCV
Project 1 - Humanoid Robot Modeling in Blender
Students first created a physics simulation in Blender to familiarize themselves with the software. Then, they constructed models of UBTECH Yanshee and Hiwonder TonyPi Pro robots. Lastly, they designed various stable and unstable poses for each robot type.
Project 2 - Movement Design
Students designed motions on Hiwonder TonyPi Pro robots to complete a variety of tasks.
Project 3 - Visual Servoing
Students detected faces using Haar cascade classifiers and used PID controllers to have the camera in the head of a Hiwonder TonyPi Pro robot move to keep the face in the center of the camera's live video feed.
Project 4 - Dance Simulation and Stability
Students used the simulation software Webots to design dances for a UBTECH Yanshee robot that kept it stable until intentionally falling at the end. During the last day of class, we tested the students' dances on a real robot.
