Humanoid Robotics

Jacky Baltes <>

Important Updates

  1. Assignment 3 Demonstrations - Walking engine and interpolation scheduled for Thu., 13th Nov 2014.
  2. Classes cancelled for Tue., Nov 4th and Thu., Nov 6th 2014
  3. Assignment 2 Demonstrations - Inverse Kinematics of the Arms and Legs - Oct 28th 2015
  4. Classes cancelled for Tue., Oct 21 and Thu., Oct 23rd 2014
  5. Reading assignment for Tue., Sept. 23rd: Spong book - Kinematics
  6. Reading assignment for Tue., Sept. 16th: Chapter 7.4.1 in Fu, Gonzales, and Lee.
  7. The updated ROASS document is available COMP 7950 Humanoid Robotics ROASS.
  8. Page opened. 2:32 PM, Thursday, September 11, 2014 (CDT)


This course covers a variety of topics in embedded real-time systems. Topics covered are processor and ports, interrupts, timer and event based scheduling, and software engineering methodologies for embedded systems.

Lecture Slides

The following lecture slides are available.

  1. Affine Transformations: Rotations
  2. Affine Transformations: Translations
  3. Introduction to Python
  4. Kinematics
  5. Inverted Pendulum


The following links lead to the assignments.

  1. Humanoid Robotics Assignment - Kinematics
  2. Humanoid Robotics Assignment - Simple Parameterized Walking Gait
  3. Humanoid Robotics Assignment - Walking Engine and Interpolation
  4. Centre of Mass as Stability Criterion

Sample Code

The following are links to same sample code provided for the course.

Reading List, Datasheets, and other Information

  1. Fu, Gonzales, and Lee. Control, Sensing, Vision, and Intelligence. Chapter 7.4.
  2. Spong book - Kinematics