Research

• Simulation

  • Wild Robot Motion Study and Data Repository
  • Adaptive Integration for Controlling Speed vs. Accuracy in Multi-Rigid Body Simulation
  • Grasp Simulation Study and Data Repository
  • Simulation of hopping robot
  • Time Consistent Simulation
  • Dynamic robotic simulation
  • Continuous collision detection

• Inverse Dynamics

  • Inverse Dynamics with Contact Force Prediction

• Legged Locomotion

  • Robot Demo Videos
  • High-level Quadruped Control (Joystick)
  • Pacer: Robot Locomotion Software
  • Running with a simulated quadruped
  • Simulation of hopping robot

• Human Manipulation

  • Reducing Human Fall Injuries using a Mobile Manipulator
  • Opening drawers with PR2
  • Load equalization via proprioceptive force feedback
  • Mobile manipulation