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Chris Atkeson
Professor, RI/HCII

Associated center: CFR

Email address: cga@cs.cmu.edu

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

For more information, see my personal homepage.

Jump to: Biography | Research interests | Keywords | Labs & groups | Projects | Publications

I received my PhD from MIT in Brain and Cognitive Sciences in 1986. I was on the faculty in MIT's Brain and Cognitive Science Department and Artificial Intelligence Laboratory and Georgia Tech's College of Computing before coming to CMU in 2000. I received an NSF Presidential Young Investigator Award, a Sloan Research Fellowship, and a Teaching Award from the MIT Graduate Student Council.

This section last updated - January 1999.

I am an experimentalist in the field of robot learning, specializing in the learning of challenging dynamic tasks such as juggling. I am also working on applying ideas and techniques from robotics to intelligent environments. I combine designing learning algorithms with exploring their behavior in implementations on actual robots and in intelligent environments. My research interests include nonparametric learning, reinforcement learning, learning from demonstration, and modeling human behavior. For more detail please see my personal home page.

This section last updated - January 1999.

artificial intelligence, control, entertainment robotics, human-computer interaction, humanoid robotics, intelligent environments, legged locomotion, machine learning, manipulation, motion planning, planning, and quality-of-life technology

• Robotics Education Lab - The Robotics Education Lab is a central resource to support courses and individual projects in robotics.

• Dynamic Biped - We are developing a new series of bipedal walking robots that use passive-dynamic principles.
• Informedia Digital Video Library - Informedia Digital Video Library - Informedia is pioneering new approaches for automated video and audio indexing, navigation, visualization, summarization search, and retrieval and embedding them in systems for use in education, health care, defense intelligence and understanding of human activity.
• Learning Locomotion - Robust planning and control of the quadruped robot "Little Dog" to traverse rough terrain (DARPA sponsored).
• Navigation Among Movable Obstacles - Autonomous motion planning and control for robots working in reconfigurable environments.
• Quality of Life Technology Center - QoLT is a unique partnership between Carnegie Mellon and the University of Pittsburgh that brings together a cross-disciplinary team of technologists, clinicians, industry partners, end users, and other stakeholders to create revolutionary technologies that will improve and sustain the quality of life for all people.

• Coordinating Feet in Bipedal Balance
  S. Anderson, J.K. Hodgins, and C. Atkeson
  IEEE Humanoids 2006, November, 2006, pp. 624-628. [Abstract]
  Download: pdf [364 KB] copyrighted

• Powered bipeds based on passive dynamic principles
  S. Anderson, M. Wisse, C. Atkeson, J.K. Hodgins, G. Zeglin, and B. Moyer
  5th IEEE-RAS International Conference on Humanoid Robots, December, 2005, pp. 110 - 116. [Abstract]
  Download: pdf [505 KB] copyrighted

• Swing leg retraction helps biped walking stability
  M. Wisse, C. Atkeson, and D.K. Kloimwieder
  5th IEEE-RAS International Conference on Humanoid Robots, December, 2005, pp. 295 - 300. [Abstract]
  Download: pdf [315 KB] copyrighted

• Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning For Robust Biped Locomotion
  M. Stilman, C. Atkeson, J. Kuffner, and G. Zeglin
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'05), April, 2005, pp. 2399 - 2404. [Abstract]
  Download: pdf [854 KB] copyrighted

• Poincare-Map-Based Reinforcement Learning for Biped Walking
  J. Morimoto, J. Nakanishi, G. Endo, G. Cheng, C. Atkeson, and G. Zeglin
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'05), April, 2005. [Abstract]
  Download: pdf [452 KB] copyrighted

• Acquisition of a Biped Walking Pattern Using an Approximate Poincare Map
  J. Morimoto, J. Nakanishi, G. Endo, G. Cheng, C. Atkeson, and G. Zeglin
  Proceedings of the IEEE-RAS/RSJ Int. Conf. on Humanoid Robots (Humanoids 2004), November, 2004, pp. 912 - 924. [Abstract]
  Download: pdf [1034 KB] copyrighted

• A Simple Reinforcement Learning Algorithm For Biped Walking
  J. Morimoto, G. Cheng, C. Atkeson, and G. Zeglin
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'04), April, 2004, pp. 3030 - 3035. [Abstract]
  Download: pdf [838 KB] copyrighted

• Minimax Differential Dynamic Programming: Application to a Biped Walking Robot
  J. Morimoto, G. Zeglin, and C. Atkeson
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003. [Abstract]
  Download: pdf [608 KB] copyrighted

• Robust Low Torque Biped Walking Using Differential Dynamic Programming with a Minimax Criterion
  J. Morimoto and C. Atkeson
  Proceedings of the Fifth International Conference on Climbing an Walking Robots and their Supporting Technologies (CLAWAR 2002), September, 2002. [Abstract]
  Download: pdf [178 KB] copyrighted

• Adapting Human Motion for the Control of a Humanoid Robot
  N. Pollard, J.K. Hodgins, M.J. Riley, and C. Atkeson
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '02), May, 2002. [Abstract]
  Download: pdf [1472 KB] copyrighted