CS 6731, Humanoid Robotics Spring 2018, Prof. Peter Allen
Projects: Project Proposals are due in class on 2/20.
Student projects will form 1/3 of the final grade. You may do team
projects, but as the team size grows, so does the amount of work
expected. All projects must be approved in advance by Prof. Allen.
Please feel free to discuss the project in advance with Prof Allen or
Some past project summaries in the class can be found Here
Below are some possible project ideas, but feel free to come up with your own ideas!
- Find an interesting paper from the Humanoids
2017 conference (or other
robotics paper). Implement the method/algorithm in the paper on
your own system, possibly extending the paper's results.
Use the PR2/Fetch/Baxter simulator to have a humanoid robot
navigate and manipulate objects in a complex world environment. You
can then port the code to the actual robot in the lab.
- We have a database of models (ModelNet
http://modelnet.cs.princeton.edu/) with over 100K models. Your
project could be to place these objects into either a postgres or
MongoDB database, and add code to our grasping simulator GraspIt! to
browse the, precompute grasps for these objects, and then create an
interface to browse the grasps.
Write code to perform a sensory task on a humanoid using visual,
tactile, force or other sensor inputs.
Do a study of a human behavior and discuss how this behavior can be
ported to a humanoid.
Write a paper on a topic of interest in humanoids
Motion Description Languages
Common Sense: Can a robot find it?
Analogy and metaphor: Can a robot understand this?
Emotion: what's it really good for? Why does a Robot need it?
Acquiring and developing social and physical knowledge
Consciousness in robotics - what it means for a robot to consider it's own mental state
Sensorimotor Learning and Learning by Demonstration
Haptic and Tactile Sensing
Vision for Humanoid Robots
Do something off the charts to amaze me!
Project Proposal Format
Your proposal must include the following information. The proposal
should be 1 or 2 pages max. Email the proposal to
Team Members and uni's
Project Description: Give a clear and concise description of what you
are going to accomplish by semester's end. Be specific about any
capabilities, behaviors, tasks that you may want to attack. Make sure
you include milestones of increasing complexity in what you will do.
We need a way to gauge your success on the project - tier 1 results,
tier 2 results (if time permits).
You should also include some background references to similar work.
Make sure you search google and google scholar for relevant previous
work related to your project, and include a citation in your proposal.
It is acceptable to do a project similar to an existing piece of work
if you create your own independent version of the work. It is
probably better to use the existing work as a guide, and explain how
you might want to extend or differentiate this work in your project.
If a group project, make sure you discuss how the work will be divided up.