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Humanoid Robotics Laboratory

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Author: Dantam, Neil × Start date: 2010 × End date: 2010 ×

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Equations of Motion for Dynamically Stable Mobile Manipulators

2010-12-14 , Dantam, Neil , Kolhe, Pushkar , Stilman, Mike

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Dynamic Pushing Strategies for Dynamically Stable Mobile Manipulators

2010-05 , Kolhe, Pushkar , Dantam, Neil , Stilman, Mike

This paper presents three effective manipulation strategies for wheeled, dynamically balancing robots with articulated links. By comparing these strategies through analysis, simulation and robot experiments, we show that contact placement and body posture have a significant impact on the robot's ability to accelerate and displace environment objects. Given object geometry and friction parameters we determine the most effective methods for utilizing wheel torque to perform non-prehensile manipulation.

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The Motion Grammar: Linguistic Perception, Planning, and Control

2010 , Dantam, Neil , Stilman, Mike

We present the Motion Grammar: a novel unified representation for task decomposition, perception, planning, and hybrid control that provides a computationally tractable way to control robots in uncertain environments with guarantees on completeness and correctness. The grammar represents a policy for the task which is parsed in real-time based on perceptual input. Branches of the syntax tree form the levels of a hierarchical decomposition, and the individual robot sensor readings are given by tokens. We implement this approach in the interactive game of Yamakuzushi on a physical robot resulting in a system that repeatably competes with a human opponent in sustained game-play for matches up to six minutes.

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