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Humanoid Robotics Laboratory

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Krang Kinematics: A Denavit-Hartenberg Parameterization

2014 , Erdogan, Can , Zafar, Munzir , Stilman, Mike , Georgia Institute of Technology. Institute for Robotics and Intelligent Machines , Georgia Institute of Technology. College of Computing

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Time-Optimal Path Following with Bounded Joint Accelerations and Velocities

2011 , Kunz, Tobias , Stilman, Mike , Georgia Institute of Technology. Center for Robotics and Intelligent Machines

This paper presents a method to generate the time-optimal trajectroy that exactly follows a given differentiable joint-space path within given bounds on joint accelerations and velocities. We also present a path preprocessing method to make nondifferentiable paths differentiable by adding circular blends.

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Towards Stable Balancing

2014 , Zafar, Munzir , Erdogan, Can , Stilman, Mike , Georgia Institute of Technology. Institute for Robotics and Intelligent Machines , Georgia Institute of Technology. College of Computing

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Equations of Motion for Dynamically Stable Mobile Manipulators

2010-12-14 , Dantam, Neil , Kolhe, Pushkar , Stilman, Mike , Georgia Institute of Technology. Center for Robotics and Intelligent Machines , Georgia Institute of Technology. School of Interactive Computing

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Krang: Center of Mass Estimation

2014 , Zafar, Munzir , Erdogan, Can , Volle, Kyle , Stilman, Mike , Georgia Institute of Technology. Institute for Robotics and Intelligent Machines , Georgia Institute of Technology. College of Computing

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Gravity and Drift in Force/Torque Measurements

2014 , Erdogan, Can , Zafar, Munzir , Stilman, Mike , Georgia Institute of Technology. Institute for Robotics and Intelligent Machines , Georgia Institute of Technology. College of Computing

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Design and Development of a Dynamically-Balancing Holonomic Robot

2011 , Reynolds-Haertle, Saul , Stilman, Mike , Georgia Institute of Technology. Center for Robotics and Intelligent Machines

This paper describes the design, control, and construction of Golem Wing, the first vehicle which both balances dynamically and has entirely holonomic ground movement. A nonstandard linear arrangement of mecanum wheels gives it the load-lifting, performance, and manipulation benefits of a dynamically-balancing platform without the maneuvering difficulties exhibited by previous balancing platforms. We show that the arrangement is capable of holonomic motion, describe a controller that maintains dynamic balance during holonomic motion, and show an implementation of the system in hardware that validate our assertions.

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Detecting Partially Occluded Objects via Segmentation and Validation

2012 , Levihn, Martin , Dutton, Matthew , Trevor, Alexander J. B. , Stilman, Mike , Georgia Institute of Technology. Center for Robotics and Intelligent Machines

This paper presents a novel algorithm: Verfied Partial Object Detector (VPOD) for accurate detection of partially occluded objects such as furniture in 3D point clouds. VPOD is implemented and validated on real sensor data obtained by our robot. It extends Viewpoint Feature Histograms (VFH) which classify unoccluded objects to also classifying partially occluded objects such as furniture that might be seen in typical office environments. To achieve this result, VPOD employs two strategies. First, object models are segmented and the object database is extended to include partial models. Second, once a matching partial object is detected, the full object model is aligned back into the scene and verified for consistency with the point cloud data. Overall, our approach increases the number of objects found and substantially reduces false positives due to the verification process.

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Ach: IPC for Real-Time Robot Control

2011 , Dantam, Neil , Stilman, Mike , Georgia Institute of Technology. Center for Robotics and Intelligent Machines

We present a new Inter-Process Communication (IPC) mechanism and library. Ach is uniquely suited for coordinating perception, control drivers, and algorithms in real-time systems that sample data from physical processes. Ach eliminates the Head-of-Line Blocking problem for applications that always require access to the newest message. Ach is efficient, robust, and formally verified. It has been tested and demonstrated on a variety of physical robotic systems. Finally, the source code for Ach is available under an Open Source BSD-style license.

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Kinematics and Inverse Kinematics for the Humanoid Robot HUBO2+

2013 , O’Flaherty, Rowland , Vieira, Peter , Grey, Michael , Oh, Paul , Bobick, Aaron F. , Egerstedt, Magnus B. , Stilman, Mike , Georgia Institute of Technology. Center for Robotics and Intelligent Machines , Georgia Institute of Technology. College of Computing

This paper derives the forward and inverse kinematics of a humanoid robot. The specific humanoid that the derivation is for is a robot with 27 degrees of freedom but the procedure can be easily applied to other similar humanoid platforms. First, the forward and inverse kinematics are derived for the arms and legs. Then, the kinematics for the torso and the head are solved. Finally, the forward and inverse kinematic solutions for the whole body are derived using the kinematics of arms, legs, torso, and head.

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