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Disney Research

Robotics

Snapbot: A Reconfigurable Legged Robot

We develop a reconfigurable legged robot, named Snapbot, to emulate configuration changes and various styles of legged locomotion.

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Sungjoon Choi

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Kevin Gim

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Joint Optimization of Robot Design and Motion Parameters using the Implicit Function Theorem

We present a novel computational approach to optimizing the morphological design of robots.

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Active Vertical Stabilization Mechanism for Lightweight Handheld Cameras

We introduce a miniaturized active stabilization mechanism that attenuates such disturbances and keeps the camera steady.

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Katie Hahm

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Toward Controlling a KUKA LBR IIWA for Interactive Tracking

In this paper, we use KUKA’s Fast Robot Interface (FRI) to design and implement a tracking controller on the Lightweight Robot (LBR) IIWA.

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Accurate Task-Space Tracking for Humanoids with Modeling Errors using Iterative Learning Control

We demonstrate the efficacy of the algorithm on a theme-park type humanoid doing a drawing task, serving drink in a glass, and serving a drink placed on a tray without spilling.

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Catching a Real Ball in Virtual Reality

We present a system enabling users to accurately catch a real ball while immersed in a virtual reality environment.

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Dave Kotfis

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