Brian Y. Lattimer

Learn More
This article presents an experimental study into thermal softening and thermal recovery of the compression strength properties of structural balsa wood (Ochroma pyramidale). Balsa is a core material used in sandwich composite structures for applications where fire is an ever-present risk, such as ships and buildings. This article investigates the thermal(More)
This paper describes the mechanical design of ESCHER, a series elastic humanoid developed to compete in the DARPA Robotics Challenge (DRC). The design methodology was informed by preliminary experimental results obtained using the THOR humanoid, a prototype platform developed for the DRC Trials, relying heavily on an accurate model of the torque-controlled(More)
This paper presents the hardware platform, software, and control systems developed to field the Electric Series Compliant Humanoid for Emergency Response (ESCHER), Team VALOR’s Track A entry to the DARPA Robotics Challenge (DRC) Finals. The design and assembly of ESCHER commenced 10 months prior to the Finals, leveraging and improving upon bipedal humanoid(More)
Finding a fire fast is crucial in firefighting. For risky situations, it would be idealistic to send a firefighting robot that could quickly and efficiently find the fire and suppress it. This paper introduces an algorithm developed for an intelligent firefighting mobile robot to find a fire efficiently by fusing long wave infrared camera, ultraviolet(More)
We have developed two different configurations of series elastic actuators to be used in the lower body of THOR, a full scale humanoid developed for the DARPA Robotics Challenge. Both designs utilize a ball screw transmission but use different output mechanisms. The THOR-Linear actuator uses a simple lever output while the THOR-Hoekens actuator uses a novel(More)
This paper discusses the application of thermal infrared stereo vision for distance mapping in fire environments for mobile robotic systems and humans. The capabilities of thermal infrared stereo vision are presented. The relationship between the development of thermal IR stereo vision systems and the development of visual stereo vision systems is(More)