Media Reports
engadget
dailyMail
Durus-2D could prove useful in their goal to develop cutting-edge robotic limbs for amputees and those with limited mobility.
GIZMODO
First, we taught robots how to walk and keep their balance, even when we tried to push them over. Now we’re teaching them to run?!
Bipedal robotic running with DURUS-2D: bridging the gap between theory and experiment, 20th ACM International Conference on Hybrid Systems: Computation and Control (HSCC 2017).
Efficient HZD gait generation for three-dimensional underactuated humanoid running, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea.
Research
Walking Robots
Modular Robot
Use the "Mechanics"
The "formal" math
Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER3M, submitted to IEEE International Conference on Robotics and Automation 2017 (ICRA), Sigapore.
Mechanics-based design of underactuated robotic walking gaits: initial experimental realization, IEEE-RAS International Conference on Humanoid Robots (Humanoid2016), Cancun, Mexico.
First steps toward formal controller synthesis for bipedal robots, 18th ACM International Conference on Hybrid Systems: Computation and Control (HSCC 2015).
First steps toward formal controller synthesis for bipedal robots with experimental implementation, Nonlinear Analysis: Hybrid Systems, A journal of IFAC, the International Federation of Automatic Control.
AMBER3
Multi-Contact Walking
The "robustness"
Discover Channel report
AMBER2 Multi-Contact Walking
"Dancing" robot
The "first" feet-walking
"Voltage" actuation
Composing dynamical systems to realize dynamic robotic Dancing. In the Workshop on the Algorithmic Foundations of Robotics (WAFR), Istanbul, Turkey, 2014.
Human-inspired walking via unified PD and Impedance control, in 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hongkong, China.
This flat ground walking was accomplished via an human-inspired optimization, then applying PD controller on human-like outputs. The novel part is that there is now low level controller, direct voltage controller was deployed to control motors.
AMBER2
NAO
NI week 2012
This project shows how Human-Inspired Control, which creates and tracks a partial hybrid zero dynamics surface, can be implemented in real-time on the NAO robot where a control update period of 10 ms makes every operation critical. By considering reduced-order model dynamics, a 20-dimensional ODE is reduced to a two-dimensional ODE to which the exact analytical solution is known
This was on Texas Day at NIWEEK Conference held by National Instrument on August, 2012. My job was implementing the walking via LabView as Researcher & Exhibitor.
The early stage
Bachelor.2011
Mechanical Engineering
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Ph.D.2017?
Control Dynamical Systems
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M.S.2014
Mechanical Engineering
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Build it, break it, fix it.
- Marc Raibert
Amber-Hopper
To re-create & improve Raibert's hooper with formal mathematical proof and nonlinear control.
End goal: online stable hopping gait generation.
Motion Planning
To plan Start->walking->running->jumping->running slowdown->walking slowdown -> stop for DURUS robot in simulation, with HZD and pseduspectrual methods.
Who am I?
I am an Engineer,
& I love Math.
What is my Goal?
To make a Bipedal robot Run,
& Run Fast.
What are my Tools?
Engineering
Nonlinear Control
Mathematical Programming