(Georgia Institute of Technology, 2015-12)
Arkin, Ronald C.; Egerstedt, Magnus B.
Robot teaming is a well-studied area, but little research to date has been conducted on the fundamental benefits of heterogeneous teams and virtually none on temporal heterogeneity, where timescales of the various platforms are radically different. This paper explores this aspect of robot ecosystems consisting of fast and slow robots (SlowBots) working together, including the bio-inspiration for such systems.
(Georgia Institute of Technology, 2013)
O’Flaherty, Rowland; Vieira, Peter; Grey, Michael; Oh, Paul; Bobick, Aaron F.; Egerstedt, Magnus B.; Stilman, Mike
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.