• Publications
  • Influence
Whole body control of a wheeled inverted pendulum humanoid
TLDR
The key idea is to isolate dynamics of the manipulator from the wheel dynamics and to control the resulting system using operational-space control, with a side-effect of this is the resulting asymmetry of the inertia matrix restricting full use of operational space tools. Expand
Getting it right the first time: predicted performance guarantees from the analysis of emergent behavior in autonomous and semi-autonomous systems
TLDR
The scenarios under consideration, the performance measures and metrics being developed, and an outline of the mechanisms for providing performance guarantees for counter-Weapons of Mass Destruction missions are described. Expand
Hierarchical optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids
TLDR
A whole-body control framework for Wheeled Inverted Pendulum (WIP) Humanoids is presented with a low level controller for body joints manipulation and a high-level controller that defines center of mass (CoM) targets for the low- level controller to control zero dynamics of the system driving the wheels. Expand
Robots using environment objects as tools the ‘MacGyver’ paradigm for mobile manipulation
TLDR
Progress in developing and validating `MacGyver' skills in a simulated rescue mission is presented. Expand
Characterizing performance guarantees for multiagent, real-time systems operating in noisy and uncertain environments
TLDR
This paper is developing a software framework for verification of performance guarantees for C-WMD missions based on the MissionLab software system and a novel process algebra approach to representing robot programs and operating environments and links this to prior work on metrics for robot performance. Expand
Characterizing Performance Guarantees for Real-Time Multiagent Systems Operating in Noisy and Uncertain Environments
TLDR
This paper reports on the initial research for the Defense Threat Reduction Agency (DTRA) in understanding what is required from a performance guarantee to give a mission designer the information necessary to understand how well a robot program will perform in a specific environment. Expand
Extending Riemmanian Motion Policies to a Class of Underactuated Wheeled-Inverted-Pendulum Robots
TLDR
This paper presents a method that extends the RMP formalism to a class of underacutated systems whose dynamics are amenable to a decomposition into a fully-actuated subsystem and a residual dynamics and shows the efficacy of the approach by constructing a suitable decomposition for a Wheeled-Inverted-Pendulum humanoid robot. Expand
Barrier Functions in Cascaded Controller: Safe Quadrotor Control
TLDR
This paper proposes a quadratic programming (QP) based approach on a cascaded control architecture for quadrotors to enforce safety and demonstrates the feasibility of the method on a quadrotor in simulation with static and dynamic constraints enforced on the position and velocity spaces simultaneously. Expand
Online Center of Mass Estimation for a Humanoid Wheeled Inverted Pendulum Robot
We present a novel application of robust control and online learning for the balancing of a n Degree of Freedom (DoF), Wheeled Inverted Pendulum (WIP) humanoid robot. Our technique condenses theExpand
Krang: Center of Mass Estimation
TLDR
The center of mass of each individual part is originally measured and expressed in another frame of reference, called the “Part Frame of Reference” and this COM is named as “Local COM” of the part. Expand
...
1
2
...