Please see the link in the navigation bar above to download my Masters Thesis, A Humanoid Robot Pushing Model Inspired by Human Motion.
Direct Download Link: A Humanoid Robot Pushing Model Inspired by Human Motion [PDF]
The Smooth Nearness-Diagram algorithm seen in the last video was implemented on real mobile robots in the SyRoTek arena at Czech Technical University (CVUT) in Prague. Using ROS to communicate with the robots and SyRoTeK, the MATLAB algorithm could be used unchanged.
This video, along with the things we have learned for implementing a similar system for Online HUBO, concludes our stay at CVUT in Prague.
Joseph W. Durham and Francesco Bullo’s Smooth Nearness-Diagram Path Planning Algorithm was implemented in Webots using a controller written in MATLAB. This algorithm is a gap-based planner that uses laser range finder data to determine gap between obstacles that it can fit through and the appropriate heading to avoid collision while aiming towards a goal. This algorithm was implemented to understand SND before implementing on the SyRoTek (System for robotic e-learning) mobile robot system at Czech Technical University (CTU, CVUT) in Prague. This is part of a partnership between Drexel University and CTU.
At this point, we are currently working to link the MATLAB controller up with the SyRoTek system using ROS.
The LEGO Mindstorms NXT based Wheeled Inverted Pendulum has been proven to work using various types of sensors including stock light sensors and after market gyro sensors. The light sensor control sceme relies on a relatively solid colored texture free surface to perform well. Changes in light intensity at the sensor cause the robot to move forward or backward in response the sensed tilt. The gyro based model is more robust as it senses angular velocity of the robot directly. Being Gyro controlled, this robot can handle any colored surface, including ramps and small bumps.
HiTechnic provides an assembly manual for their “HiTechnic HTWay” and sample code that allows it to balance and be controlled by and infrared transmitting controller.
The goal of this project was to verify HiTechnic’s controller using their gyro, then modify the controller to work with an analog Sparkfun 6-axis IMU (sku: SEN-09431, Retired): http://www.sparkfun.com/products/9431
A wiki with building instructions, downloadable code and information on this goal was realized can be found here:
LEGway – LEGO Wheeled Inverted Pendulum
This jumping kangaroo leg experimental tool was designed for a Drexel mechanical engineering product design and development course (MEM435). The objective was to create an educational device that teaches the underlying mechanics of a biological system.
The kangaroo leg prototype in this video is a proof of concept for a bio-physics lab focusing on energy transfer in a jumping leg. The system would allow varying linkage lengths, joint locations, elastic properties and muscles. Guides for considering conservation of energy, friction losses, and system efficiency would be among many focusing on bio-mechanics and how a real animal leg works.
This year my lab and I entered a robotics competition that simply asked:
Can you do something cool with this robot? Whatever you want, really…
…so we made him drive a Roomba! Please vote for our team, DASL (Drexel Autonomous Systems Lab)
The Roomba has only gas pedal and steering wheel input. DARwIn-OP is doing line tracking, speed adjustment and steering on his own. We are currently implementing this on an actual DARwIn.
Here is our submitted video:
and that’s just the simulation! We are working on the real thing now.
Here’s the link to the poll: [2012 ICRA] Online Vote for the Best DARwIn-OP Application. Vote “DASL“!
Feel free to email me with any questions or responses.
Thank you so much! I hope you liked it.