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Joel Chestnutt
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No longer a member of RI.

Email address: chestnutt@ri.cmu.edu

Jump to: Labs & Groups | Projects | Publications

Past Labs & Groups

Planning and Autonomy Lab - Autonomous motion planning and control of humanoid robots, quadrupeds, mobile manipulators, and UAVs.

Past Projects

Actuator with Mechanically Adjustable Series Compliance - We are developing actuation methods for highly dynamic legged locomotion.	Footstep Planning for Biped Robots - Navigation strategies for bipeds through complex environments, planning for the full capabilities of the biped.
GPU-accelerated Computer Vision - We are exploiting programmable graphics hardware to improve existing vision algorithms and enable novel approaches to robot perception.	Learning Locomotion - Robust planning and control of the quadruped robot "Little Dog" to traverse rough terrain (DARPA sponsored).
The Electric Cable Differential (ECD) Leg - We are designing a bipedal robot to be capable of running, walking, jumping, hopping, and generally behaving in a highly dynamic manner.

Recent publications [View all 16 publications]

• GPU-accelerated Real-Time 3D Tracking for Humanoid Autonomy
  P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner, and T. Kanade
  Proceedings of the JSME Robotics and Mechatronics Conference (ROBOMEC'08), June, 2008. [Abstract]
  Download: pdf [1208 KB] copyrighted

• Navigation Planning for Legged Robots
  J. Chestnutt
  doctoral dissertation, tech. report CMU-RI-TR-07-44, Robotics Institute, Carnegie Mellon University, December, 2007. [Abstract]
  Download: pdf [22129 KB] copyrighted

• GPU-accelerated Real-Time 3D Tracking for Humanoid Locomotion and Stair Climbing
  P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner, and T. Kanade
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), October, 2007, pp. 463-469. [Abstract]
  Download: pdf [1413 KB] copyrighted

• A Policy for Open-Loop Attenuation of Disturbance Effects Caused by Uncertain Ground Properties in Running
  J.W. Hurst, B. Morris, J. Chestnutt, and A. Rizzi
  IEEE Conference on Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [162 KB], ps.gz [128 KB] copyrighted

• Design and Philosophy of the BiMASC, a Highly Dynamic Biped
  J.W. Hurst, J. Chestnutt, and A. Rizzi
  IEEE Conference on Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [386 KB], ps.gz [928 KB] copyrighted

• Boosting Structured Prediction for Imitation Learning
  N. Ratliff, D. Bradley, J. Bagnell, and J. Chestnutt
  Advances in Neural Information Processing Systems 19, MIT Press, Cambridge, MA, 2007. [Abstract]
  Download: pdf [847 KB] copyrighted

• Transfer of policies based on trajectory libraries
  M. Stolle, H. Tappeiner, J. Chestnutt, and C. Atkeson
  Proceedings of the International Conference on Intelligent Robots and Systems, 2007. [Abstract]
  Download: pdf [1613 KB] copyrighted

• An Intelligent Joystick for Biped Control
  J. Chestnutt, P. Michel, K. Nishiwaki, J. Kuffner, and S. Kagami
  Proceedings of the IEEE International Conference on Robotics and Automation, May, 2006, pp. 860 - 865. [Abstract]
  Download: pdf [1503 KB] copyrighted

• Online Environment Reconstruction for Biped Navigation
  P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner, and T. Kanade
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'06), May, 2006, pp. 3089 - 3094. [Abstract]
  Download: pdf [1986 KB] copyrighted

• Vision-Guided Humanoid Footstep Planning for Dynamic Environments
  P. Michel, J. Chestnutt, J. Kuffner, and T. Kanade
  Proceedings of the IEEE-RAS Conference on Humanoid Robots (Humanoids'05), December, 2005, pp. 13 - 18. [Abstract]
  Download: pdf [1799 KB] copyrighted