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Module 4: Advanced Humanoid Robotics

Module Overview​

Conclude the course with advanced humanoid robotics topics: conversational AI for human-robot interaction, locomotion algorithms for bipedal walking, inverse kinematics/dynamics for manipulation, and a capstone project integrating all modules.

Duration: Weeks 10-13 Prerequisites: Modules 1-3, linear algebra (kinematics), calculus (dynamics) Learning Outcomes:

  • Implement speech recognition and NLU for conversational robots
  • Design ZMP-based walking controllers for humanoid locomotion
  • Solve inverse kinematics for redundant manipulators
  • Build a full-stack humanoid robotics application

Lessons​

Week 10: Conversational AI for Human-Robot Interaction​

Integrate speech-to-text, natural language understanding, dialogue management, and text-to-speech for interactive robots.

Key Topics: ASR (Whisper), NLU (BERT), dialogue systems, TTS (Tacotron), ROS 2 audio nodes

Week 11: Humanoid Locomotion Algorithms​

Study Zero Moment Point (ZMP), center of mass control, footstep planning, and whole-body control for bipedal robots.

Key Topics: ZMP criterion, inverted pendulum model, MPC for walking, gait patterns, balance control

Week 12: Inverse Kinematics & Dynamics​

Solve IK for redundant manipulators, compute Jacobians, apply dynamics for torque control, and implement whole-body optimization.

Key Topics: DH parameters, Jacobian-based IK, Newton-Euler dynamics, nullspace optimization, collision avoidance

Week 13: Capstone Integration Project​

Synthesize 13 weeks of learning into a complete humanoid robotics system: perception → planning → manipulation → locomotion.

Key Topics: System architecture, integration testing, performance tuning, demo scenario (e.g., fetch-and-carry task)

Module Resources​

  • Robots: Simulated humanoids (Poppy, NAO in Gazebo), optional hardware
  • Libraries: KDL (kinematics), Pinocchio (dynamics), MoveIt 2 (motion planning)
  • Papers: Kajita et al. (ZMP), Khatib (operational space control), Todorov (MuJoCo)
  • Hardware: High-performance CPU/GPU for real-time whole-body control

Assessment​

  • Weekly Quizzes: 7 questions each on dialogue systems, locomotion, kinematics
  • Hands-On: Implement a conversational interface, ZMP controller, IK solver
  • Capstone Deliverable: Video demo of humanoid performing multi-step task (simulated or hardware)

Next: Start with Week 10: Conversational AI →