Organizational Unit:

Humanoid Robotics Laboratory

Permanent Link

https://hdl.handle.net/1853/70718

Parent Organization

Organizational Unit

Institute for Robotics and Intelligent Machines (IRIM)

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Publication Search Results

Now showing 1 - 10 of 15

Krang Kinematics: A Denavit-Hartenberg Parameterization

(Georgia Institute of Technology, 2014) Erdogan, Can ; Zafar, Munzir ; Stilman, Mike ; Georgia Institute of Technology. Institute for Robotics and Intelligent Machines ; Georgia Institute of Technology. College of Computing
Krang: Center of Mass Estimation

(Georgia Institute of Technology, 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
Detecting Partially Occluded Objects via Segmentation and Validation

(Georgia Institute of Technology, 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.
Time-Optimal Path Following with Bounded Joint Accelerations and Velocities

(Georgia Institute of Technology, 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.
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
Ach: IPC for Real-Time Robot Control

(Georgia Institute of Technology, 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.
Towards Stable Balancing

(Georgia Institute of Technology, 2014) Zafar, Munzir ; Erdogan, Can ; Stilman, Mike ; Georgia Institute of Technology. Institute for Robotics and Intelligent Machines ; Georgia Institute of Technology. College of Computing
Design and Development of a Dynamically-Balancing Holonomic Robot

(Georgia Institute of Technology, 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.
Kinematics and Inverse Kinematics for the Humanoid Robot HUBO2+

(Georgia Institute of Technology, 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.
Equations of Motion for Dynamically Stable Mobile Manipulators

(Georgia Institute of Technology, 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