Robotics

In this work, we outline a theoretical framework for whole body inertial parameter estimation, including the unactuated floating base. Using a least squares minimization approach, conducted within the nullspace of unmeasured degrees of freedom, we are able to use a partial force sensor set for full-body estimation, e.g. using only joint torque sensors, allowing for estimation when contact force measurement is unavailable or unreliable (e.g. due to slipping, rolling contacts, etc.).

In this paper, we demonstrate that a neuromuscular controller built based on the human anatomical structure and motion data can realize human-like responses to unexpected disturbances during locomotion.

This paper investigates the optimization and control of biped walking motion on a rolling cylinder.

This paper investigates the effect of foot shape on biped locomotion. In particular, we consider planar biped robots whose feet are composed of curved surfaces at toe and heel and a flat section between them.

This paper proposes a new grasp force efficiency (GFE) measure that considers not only contact point locations but also the hand configuration and mechanism. GFE evaluates the largest wrench applied to the object that the grasp can resist with unit contact forces.

This paper describes a general method for systematically obtaining simplified models of humanoid robots. We demonstrate an application of derived models to humanoid robot balance control using linear quadratic regulators.

This paper presents an efficient algorithm for computing a distance measure between two compact convex sets Q and A, defined as the minimum scale factor such that the scaled Q is not disjoint from A.

This paper introduces a method to simultaneously optimize design and control parameters for legged robots to improve the performance of locomotion based tasks.

In this paper, we present a shoulder design using a novel differential mechanism to counterbalance the arm while preserving an anthropomorphically favorable singularity configuration and natural range-of-motion. Furthermore, because the motors driving the shoulder are completely grounded, counterbalance masses or springs are easily placed away from the shoulder and low in the torso, improving mass distribution and balance.

This paper studies the balancing of simple planar bipedal robot models in dynamic, unstable environments like seesaw, bongoboard and board on a curved floor.