Student Talks
Planning for a Small Team of Heterogeneous Robots: from Collaborative Exploration to Collaborative Localization
Event Location: GHC 8102Abstract: Robots have become increasingly adept at performing a wide variety of tasks in the world. However, many of these tasks can benefit tremendously from having more than a single robot simultaneously working on the problem. Multiple robots can aid in a search and rescue mission each scouting a subsection of the [...]
The theory and implementation of spring mass running on ATRIAS, a bipedal robot
Event Location: GHC 8102Abstract: We expect legged robots to be highly mobile. Human walking and running can execute quick changes in speed and direction, even on non-flat ground. Indeed, analysis of simplified models shows that these quantities can be tightly controlled by adjusting the leg placement between steps and that the leg placement can also [...]
Performing Self-Scheduled Services in the Spare Time of a Mobile Autonomous Service Robot
Event Location: NSH 3305Abstract: Mobile autonomous service robots perform services requested by users at specific times. The goal of this thesis is to explore how a service robot can make use of the spare time between user requests. We propose the robot performs self-scheduled services for which it receives reward from the users. Our proposed [...]
Subdimensional Expansion: A Framework for Computationally Tractable Multirobot Path Planning
Event Location: NSH 1507Abstract: Planning optimal paths for large numbers of robots is computationally expensive. In this thesis, we present a new framework for multirobot path planning called subdimensional expansion, which initially plans for each robot individually, and then coordinates motion among the robots as needed. More specifically, subdimensional expansion initially creates a one-dimensional search [...]
Compact Generative Models of Point Cloud Data for 3D Perception
Event Location: GHC 8102Abstract: One of the most fundamental tasks for any robotics application is the ability to adequately assimilate and respond to incoming sensor data. The goal of this thesis is to explore how statistical models for point cloud data can facilitate, accelerate, and unify many common tasks in the area of 3D perception. [...]
Evaluation of Decentralized Reactive Swing-Leg Controllers on Powered Robotic Legs
Event Location: NSH 3305Abstract: We present work to transfer decentralized neuromuscular control strategies of human locomotion to powered segmented robotic legs. State-of-the-art robotic locomotion control approaches, like centralized planning and tracking in fully robotic systems and predefined motion pattern replay in prosthetic systems, do not enable the dynamism and reactiveness of able-bodied humans. Animals largely [...]
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Rover Traverse Planning for Prolonged Solar-Powered Polar Exploration
Event Location: GHC 4405Abstract: Future in-situ resource utilization promises to enable affordable exploration of space and extend human presence in the Solar System by minimizing the materials that must be carried from Earth. This is predicated on the existence of economic quantities of native materials that can be converted into consumable resources, such as water, [...]
Online Hierarchical Optimization for Humanoid Control
Event Location: NSH 3305Abstract: This thesis presents an online approach for controlling humanoid robots using hierarchical optimization. While our primary focus is to develop a fast and robust walking controller that is able to follow desired foot steps, full body manipulation capability is also achieved. The proposed hierarchical system consists of three levels: a high [...]
From Supervised to Unsupervised Facial Action Discovery
Event Location: NSH 1507Abstract: Facial actions speak louder than words. Facial actions can reveal a person's emotion, intention, and physical state; and make possible a range of applications that include market research, human-robot interaction, drowsiness detection, and clinical and developmental psychology research. In this proposal, we investigate both supervised and unsupervised approaches to facial action [...]
Using Planned View Trajectories to Build Good Models of Planetary Features under Transient Illumination
Event Location: GHC 2109Abstract: This research addresses the modeling of substantially 3D planetary terrain features, such as skylights, canyons, craters, rocks, and mesas, by a surface robot. The sun lights planetary features with transient, directional illumination. For concave features like skylight pits, craters, and canyons, this can lead to dark shadows. For all terrain features, [...]