Course syllabus for Humanoid robotics

1. Explain principles for bipedal locomotion, e.g., zero moment point (ZMP), central pattern generators (CPGs).
2. Explain how hardware components enable perception, motion, and interaction in humanoid robots.
3. Explain how the software framework ROS2 enables system integration, control, and modular development in humanoid robots.
4. Derive and apply the kinematic equations for a simple robot system.
5. Apply machine learning-based methods (e.g., genetic programming, neural networks, or reinforcement learning) to solve inverse kinematics.
6. Describe and implement other types of motor behaviours, such as one- and two-handed object manipulation, and interaction.
7. Select and apply basic algorithms for computer vision and AI in humanoid robots.
8. Compare and contrast humanoid robots with other types of robots from a system perspective and in relation to state-of-the-art.
9. Discuss ethical, social, and societal aspects of humanoid robots, including HRI (Human–Robot Interaction) and applications in areas such as healthcare, service, and industry.
10. Plan, carry out, and report a robot project with technical and scientific challenges.

1. Introduction to humanoid robots and state of the art
2. System perspective on humanoid robots
3. Kinematics and dynamics
4. Gait synthesis and control
5. Robot vision and perception
6. AI and behaviour control
7. Software architecture and system integration (ROS2)
8. Hardware for humanoid robots
9. Human–Robot Interaction (HRI)
10. Applications and societal impact
11. Ethics, safety and regulations
12. Project planning and system integration

The course consists of lectures, seminars, and an extensive group project (2–4 students). The theory part includes individual homework assignments and a written test ("dugga"). The project is carried out using humanoid robot platforms and software (ROS2) in a robotics lab environment. The course is designed to promote active learning through a flipped classroom and project-based learning approach, with a focus on system integration and interdisciplinary thinking.

The course literature consists of an updated digital compendium in humanoid robotics, scientific articles, ROS2 manuals, as well as current case studies and open educational resources. All material is digitally available free of charge via the course website.

The examination consists of three mandatory parts:
1. Individual homework assignment (25%)
2. Mandatory written test (25%)
3. Group project (50%)

All three parts must be passed to obtain a final grade. The project is examined at both group and individual levels through a written report, oral presentation, and technical demonstration.