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16-264: Humanoids
Spring 2017
Instructors: Akihiko Yamaguchi, info [at] akihikoy [dot] net
and Chris Atkeson, cga at cmu
TA: Kazu Otani, kazuotani14 at gmail dot com
Time: MW 13:30-14:50 Place: NSH 3002 Units: 12
Lab (Baxter robot, 3D printer): NSH A529
About This Course
- Each student chooses a project.
- How to decide a project? Instructors provide many ideas (see Project Ideas in the schedule). Students can propose their own projects.
- Making a group is strongly recommended.
- How to make a group? Talk with your friends or make new friends in this course.
- Each class = Lecture + Project group meeting
- Out-of-class activities = Projects + Assignments
- Contents of lectures will depend on projects.
- Send e-mails to Akihiko Yamaguchi for requesting lecture contents.
- When to decide a project? AS SOON AS POSSIBLE!
- What background knowledge is required? Students with any background knowledge are welcome. Think how to use your own skills in your project.
Assignments
Note: Assignment marked [Plan] means a tentative plan. [Fixed] means a fixed assignment.
- [Fixed]Assignment-0: Due=Jan 24. Make a group, and choose a project per group. Send an e-mail to instructors which should include: project topic, and collaborators (the other students in your group).
- [Fixed]Assignment-1: Due=Feb 1. Project Website version 1 (Must include (A), (B), (D); see below). E-mail instructors when the shopping list is ready.
- [Fixed]Assignment-2: Due=Mar 10. Project Website version 2 (Must include (C), (E); see below).
- [Fixed]Assignment-3: Due=May 10. Project Writeup (final report per student). PUT YOUR ANDREW ID IN THE REPORT!
Project Website
Each project must have a website presenting the project details.
The contents will include:
- (A) Member list.
- (B) Motivation, purpose, idea.
- (C) Plan, schedule.
- (D) Shopping list. (*1)
- (E) Progress, results.
- ...
Put many videos and pictures!
(*1) Instructors will order the stuff listed in this section. Please specify the details, including a URL of the item, quantity, etc. Add a short description about why the item is necessary.
How to make a website? Use CMU's service, Google Sites, etc.
Overview of Student Projects
- Make project groups, Choose a project per group
- [Fixed]Assignment-0: Due=Jan 24. Make a group, and choose a project per group. Send an e-mail to instructors which should include: project topic, and collaborators (the other students in your group).
- Make a plan to achieve the project
- Start from simple things first
- Do not try to do many unknown things together; Do them one-by-one
- What are the first experiments?
- Decide things to buy (Instructors will order)
- Make a Project Website
- [Fixed]Assignment-1: Due=Feb 1. Project Website version 1 (Must include (A), (B), (D)). E-mail instructors when the shopping list is ready.
- Progress the project
- Write and test your programs with your computers
- Experiments in the lab (NSH A529): Schedule the date & time with Akihiko Yamaguchi or Kazu Otani
- In the lab, you can do: Baxter experiments, 3D Printing (LulzBot Mini)
- IDeATe
- ...
- Keep updating the Project Website
- [Fixed]Assignment-2: Due=Mar 10. Project Website version 2 (Must include (C), (E)).
- 1st Presentation: Scheduled on early March
- What to present: Motivation, Purpose, Ideas, Plan, Progress
- 2nd Presentation: Scheduled on early May
- Final presentation of the project
- What to present: Results, What you learned
- Final report
- [Fixed]Assignment-3: Due=May 10. Project Writeup (final report per student). PUT YOUR ANDREW ID IN THE REPORT!
Q and A
I cannot make a complete list of shopping. Can I buy things later?
- Yes, you can buy things after the Assignment-1. E-mail to the instructors.
How to use Baxter?
- Schedule an experiment with Akihiko Yamaguchi.
- There is a computer for Baxter and 3D printer that students can access. Students will bring their program with USB, Dropbox, etc. and copy them to the computer.
- How to use our Baxter system
- If students want to use their own PC to control Baxter or simulated Baxter, here is a brief setup guide.
- Here is more info.
Teams
AY= Akihiko Yamaguchi, CGA= Chris G Atkeson, KO= Kazu Otani
Semi-autonomous home robot for stay-at-home patients (KO+AY)
Xue An Chuang
Michael Tran
Melanie Seah
Drawing Baxter (KO+AY)
Jiaxuan Li
David Qiu
Aathreya Thuppul
Anni Zhang
Summer Kitahara
Kevan Dodhia
Robot hand for Baxter (CGA+AY)
Kwadwo Akompong
Lubhaan Kumar
Assistive Glove (CGA)
Christie Chang
Clare Lai
Shaurya Khazanchi
Taylor Tabb
Yusei Kujirai
Pulkita Dua
Baxter: Feeding Bot (AY)
Kearnie Lin
Tatyana Mustakos
Lingdong Huang
Vicki Long
Teleoperations with Baxter (AY)
Joyce Moon
Joyce Wang
Ritika Srivastava
Corey Zhou
Alex Hong
Events, Articles
Sign-up the mailing lists if you are interested in:
National Robotics Week
> On April, 20 & 21, 2017 we will celebrate the eighth annual
> National Robotics Week with an RI open house that will include
> lectures, demonstrations, tours of our facility and social
> gatherings. We will again be holding this event in conjunction
> with Carnegie Mellon's Carnival and Reunion Weekend.
> We would greatly appreciate your participation in our event. We
> are asking for volunteers for project demonstrations both in
> the highbays and lab locations. We plan to have the tours from
> 12:00 noon to 4:00 p.m. on Friday, April 21. This tour will
> showcase your work to the many people in town for the Carnival
> and Reunion Weekend as well as National Robotics Week.
More information:
http://www.nationalroboticsweek.org/
By Feb 15 (Wed), send your ideas to Akihiko Yamaguchi to display your project results!
Articles
Schedule†
Tentative contents:
Schedule of lectures:
last updated at Apr. 26, 2017.