Welcome to "Introduction to Humanoid Robotics" (ECE 598 JK, JKO) for Fall 2020.

Over the last two decades, humanoid robots have become more prevalent as the demand for companion robots at home or rescue robots in the dangerous environments grows. This course covers various topics in humanoid robotics research, from basic knowledge to the recent publications. Students will practice essential research skills including reviewing papers, writing project proposals & papers, and presenting them.

NOTE: The lectures will be online except 2 days for the distribution and collection of hardware (humanoid robot kit (MINI)).


Here is a tentative schedule of lectures, materials, assignments, and final project. The class meets on Tuesday and Thursday from 2:00 to 3:20 pm CDT, mostly over Zoom or at ECEB 1015. Materials and assignments will be added as they become available.

1 Tue, 8/25 Online Introduction to the course Slides01 Paper01
2 Th, 8/27 Online Humanoid robot platform (1) Slides02 -
3 Tue, 9/1 Online Humanoid robot platform (2) Slide03 Paper01 due
4 Th, 9/3 ECEB 1015
MINI pick-up and overview N/A -
5 Tue, 9/8 Online Kinematics & dynamics review (1) N/A Paper02 due
6 Th, 9/10 Online Kinematics & dynamics review (2) N/A -
7 Tue, 9/15 Online Kinematics & dynamics review (3) N/A Paper03 due
8 Th, 9/17 Online MINI kinematics and making motions N/A -
9 Tue, 9/22 Online Simulation tools (1) N/A Paper04 due
10 Th, 9/24 Online Simulation tools (2) N/A -
11 Tue, 9/29 Online Legged locomotion (1) N/A Paper05 due
12 Th, 10/1 Online Legged locomotion (2) N/A Project proposal
due by 10/4
13 Tue, 10/6 Online Project proposal pitch (1) N/A Paper06
14 Th, 10/8 Online Project proposal pitch (2) N/A -
15 Tue, 10/13 Online Biped locomotion (1) N/A Paper06 due
16 Th, 10/15 Online Biped locomotion (2) N/A -
17 Tue, 10/20 Online Biped locomotion (3) N/A Paper07 due
18 Th, 10/22 Online Hierarchical approaches for motion control (1) N/A -
19 Tue, 10/27 Online Hierarchical approaches for motion control (2) N/A Paper08
20 Th, 10/29 Online Humanoid perception and localization N/A -
Tue, 11/3 Election Day Paper08 due
21 Th, 11/5 Online Prof. Yong-Jae Kim: "Interactive robotic hands and manipulators based on biomechanical principles" N/A Progress report
due by 11/8
22 Tue, 11/10 Online Motion data and its applications in humanoids (1) N/A Paper09 due
23 Th, 11/12 Online Motion data and its applications in humanoids (2) N/A -
24 Tue, 11/17 Online Human-Humanoid interaction (1) N/A Paper10 due
25 Th, 11/19 Online Human-Humanoid interaction (2) N/A -
26 Tue, 12/1 Online Project Presentations (1) N/A -
27 Th, 12/3 Online Project Presentations (2) N/A -
28 Tue, 12/8 ECEB 1015
MINI return, class wrap-up and beyond N/A Final report
due by 12/15

Course Staff


Grading Teams
Students will work in groups of 2 or 3 for the project and some of the assignments. Before handing out robots, Students will be assigned to the teams.

ECE 470 (Introduction to Robotics, ME 445, AE 482) or ECE 489 (Robot Dynamics and Control, ME 446, GE 422): recommended, not required.

Office hours

Related Links

Course Links
Reference Books


The project in this class is an open-ended research project. Teams can choose their own topics through discussions with team members and instructors. The main deliverables of the project are:

Proposal and Proposal Pitch (5% each)
Each team needs to submit a proposal (1-2 page length) including a statement of the problem, a literature survey on the problem, a potential solution, and a timeline. Also, a team will make a 10 min proposal pitch (7 min presentation and 3 min Q&A) to discuss the proposal and its challenges.

Progress Report (10%)
Teams will describe the progress of their projects in the 2-page progress reports. Adjustments of projects can be made in this progress reports.

Project Presentation (10%)
A 15 min presentation (12 min presentation 3 min Q&A) will be made to show the final results of the project.

Final Report (15%)
A team needs to submit a final report with IEEE conference paper style in LaTex.

Available Resources
More hardware resources (sensors, single board computers, 3D printed parts or other robots) are available and can be supported upon request for the project.