• Publications
  • Influence
Whole body control of a wheeled inverted pendulum humanoid
tl;dr
We present a method to implement operational space control technique for whole body control of a wheeled-inverted pendulum (WIP) humanoid, a class of robots that feature a redundant manipulator dynamically balancing itself on two wheels. Expand
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Getting it right the first time: predicted performance guarantees from the analysis of emergent behavior in autonomous and semi-autonomous systems
A crucially important aspect for mission-critical robotic operations is ensuring as best as possible that an autonomous system be able to complete its task. In a project for the Defense ThreatExpand
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Characterizing performance guarantees for multiagent, real-time systems operating in noisy and uncertain environments
tl;dr
Autonomous robots offer the potential to conduct Counter-Weapons of Mass Destruction (C-WMD) missions in an efficient and robust manner. Expand
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Characterizing Performance Guarantees for Real-Time Multiagent Systems Operating in Noisy and Uncertain Environments
tl;dr
Autonomous robots offer the potential to conduct CounterWeapons of Mass Destruction (CWMD) missions in an efficient and robust manner. Expand
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Robots using environment objects as tools the ‘MacGyver’ paradigm for mobile manipulation
tl;dr
Mobile manipulators and humanoid robots should have the ability to use objects in their environments. Expand
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Hierarchical optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids
tl;dr
A hierarchical approach to achieve whole body control of WIP humanoids where a fast QP-based lowlevel controller generates body torques based on operational space objectives for manipulation and a closed-loop CoM motion policy generated by a high-level controller. Expand
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Online Center of Mass Estimation for a Humanoid Wheeled Inverted Pendulum Robot
tl;dr
We present a novel application of robust control and online learning for the balancing of a 19 DoF Wheeled Inverted Pendulum (WIP) humanoid robot. Expand
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Extending Riemmanian Motion Policies to a Class of Underactuated Wheeled-Inverted-Pendulum Robots
Riemannian Motion Policies (RMPs) have recently been introduced as a way to specify second-order motion policies defined on robot task spaces. RMP-based approaches have the advantage of being moreExpand
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Krang: Center of Mass Estimation
tl;dr
We will separate Krang into several sections and compute the center of mass of each section within its frame of reference. Expand
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Theoretical study of structural, electronic and magnetic properties of equiatomic quaternary CoPdCrZ (Z = Si, Ge, P) Heusler alloys
In this study, the structural, electronic and magnetic properties of Co-based equiatomic quaternary Heusler alloys (EQHA) CoPdCrZ (Z = Si, Ge, P) are investigated by full potential linearized augme...
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