Robotics

In this work, we perform the challenging task of a humanoid robot standing up from a chair.

Entertainment robots in theme park environments typically do not allow for physical interaction and contact with guests. However, catching and throwing back objects is one form of physical engagement that still maintains a safe distance between the robot and participants. Using a theme park type animatronic humanoid robot, we developed a test bed for a throwing and catching game scenario.

This paper presents methods and experimental results regarding the identification of kinematic and dynamic parameters of force-controlled biped humanoid robots. We first describe a kinematic calibration method to estimate joint angle sensor offsets. The method is practical in the sense that it only uses joint angle and link orientation sensors, which most humanoid robots are equipped with.

In this paper, an optimal method for distributed collision avoidance among multiple non-holonomic robots is presented in theory and experiments.

This paper describes work on multi-robot pattern formation. Arbitrary target patterns are represented with an optimal robot deployment, using a method that is independent of the number of robots. Furthermore, the trajectories are visually appealing in the sense of being smooth, oscillation free, and showing fast convergence.

In this paper, a method for distributed reciprocal collision avoidance among multiple non-holonomic robots with bike kinematics is presented.

This paper presents a tracking controller considering contact force constraints for floating-base humanoid robots.

In this paper, we improve the controller to address the issues related to root position/orientation estimation, model uncertainties, and the difference between expected and actual contact forces.

This paper presents a method for mapping captured human motion with stepping to a humanoid model, considering the current state and the controller behavior.