Detail of the student project

Topic:Humanoid robot autonomous body exploration
Supervisor:Mgr. Matěj Hoffmann Ph.D., Ing. Zdeněk Straka
Announce as:PTO
Description:This project will be conducted on the Nao humanoid robot. The main idea is that the robot will explore its own body by self-observation and in particular self-touch.
The main tasks will be:
1. Get acquainted with the Nao robot simulator (Webots or Gazebo).
2. Study the robot kinematics and inverse kinematics and investigate controllers that would generate self-touch configurations.
3. Get acquainted with the real Nao robot.
4. Test safe self-touch behaviors on the real robot employing closed-loop control (relying on motor loads as feedback, for example).
5. Explore the possibilities of different sensory modalities in delivering information about the robot’s kinematic configuration: cameras, infra-red sensors, ultra-sonic sensors, joint encoders.
6. Optional: The robot will have an artificial skin array mounted on it. If this is delivered as planned, the students will be able to work with this new modality as well.
Max.number of students:6
Booked students:František Puciow, Martin Jílek, Tomáš Pivoňka

Warning: the registration to the PTO can be canceled only by supervisor.
Responsible person: Petr Pošík