Project-based learning unit: Kinematics and object grasping in humanoid robotics

摘要

In teaching engineering mechanics, kinematics of rigid bodies represent a typical topic that poses the challenge of inspiring students for rather theoretical contents which are often perceived to be of little benefit in solving practical problems. To highlight the practical relevance of seemingly abstract concepts and, thus to increase student's motivation, an interactive learning unit has been developed supplementing common paper-and-pencil calculations with hands-on robot experiments. Through inverse kinematics the distance of the robot towards an object is calculated. To verify the analytical results, the students are encouraged to program the robot in a project-based learning environment such that the robot grasps the object of interest. As learning media the humanoid NAO robot developed by the French company Aldebaran Robotics is used. The implementation of such a project-based learning unit is outlined, including a discussion of the required prior knowledge of the participating students and a detailed description of the analytical and experimental part of the project.